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Адаптивная система управления исполнительным приводом…
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Adaptive control system of the industrial robot actuator
© T.I. Orlyanskaya
Bauman Moscow State Technical University, Moscow, 105005, Russia
The main objective of this research is to examine the development of an adaptive control
system of the industrial robot actuator in which automatic control of operating modes is
carried out, depending on the drive loading, similarly to the human hand actions. Thus,
we formulated the purposes of control and selected its criterion providing the system with
the specified adaptive properties. Moreover, we found an approach to implementing the
control and received the block diagram of the control system. The findings of the re-
search illustrate the algorithms of self-adjustment and resistance assessment in the driv-
ing shaft. As a result, we received the differential equations describing the adaptive actu-
ator operation.
Keywords:
industrial robot, actuator, adaptive control.
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Orlyanskaya T.I.
(b. 1947), Cand. Sci. (Eng.), Assoc. Professor of the Department
“Theoretical Mechanics” named after Professor N.E. Zhukovsky at Bauman Moscow
State Technical University. Author of 25 publications. Area of scientific interests in-
cludes mechanics, robotics, mechatronics and adaptive control of electric drives.
e-mail:
tamara.orlyanskaya@gmail.com