Investigation of dynamics and synthesis of multidimensional automatic-control system for robot with cylindrical coordinates (as a example of robot of 'versatron' type with computer application)

The automatic-control system (ACS) and cylindrical robot of "Versatron" type have been investigated. The aim is to investigate the dynamics of the cylindrical robot as a multidimensional object,to develop the parametric optimization of multidimensional ACS, to analyze the stability and to evaluate the quality of transients and also to perform the modelling by a computer. The generalizations and linearized model for dynamics of the robots with cylindrical coordinates (RCC) and also the methods for parametric synthesis ofthe proportional and floating controller for RCC have been developed. The methods for analysis of the ACS stability and synthesis and also algorithms and programs for calculation and quality evaluation of the added parameter transient in multidimensional RCC ACS have been developed. The methods for calculation and synthesis of the multidimensional ACS and also the algorithms and programs are introduced. The developed algorithms and programs for stability analysis and transient evaluation in the multidimensional ACS are effective and quick-actingAvailable from VNTIC / VNTIC - Scientific & Technical Information Centre of RussiaSIGLERURussian Federatio