Algorithms of the Manipulator Drive Control System

The article presents a developed algorithm for the manipulator drive control system using a processor.This algorithm consists of three parts: -the functioning algorithm of the manipulator drive control system, in order to ensure the movement of the workpiece along a given path; -the functioning algorithm of the manipulator drive control system, with an aim of eliminating the deviation of the true path of the manipulated object from the set; -the functioning algorithm of the manipulator drive control system, ensuring the capture of the manipulated object.When creating the first algorithm, a speed vector control method is used, which consists in reporting specific speeds and accelerations for each of three degrees of mobility, depending on the projections of the trajectory on the coordinate axis and the time required for the manipulation object to pass from the beginning of the path to its end.When creating the second algorithm, the method of sequential adjustments is used.The third algorithm is based on a change in the position of the gripper when the generalized coordinates of the workpiece (axial coordinates and rotation angles) go beyond the allowable area.These algorithms are necessary when creating programs for controlling the manipulator drives, which is used to automate the movement of workpieces in the forging or hot stamping processes.