CONTROL ALGORITHMS OF MOTION AND DYNAMICS OF MANIPULATING MOBILE ROBOT

There the study object is the control systems of motion of mobile manipulating robot. The purpose is to develop the algorithm provision of control system of mobile manipulating robot. The analitic mechanic methods, the methods of routine differential equations, of stability theory, the methods of mathematical simulation and of optimization theory, the experimental study by the full-scale simulating system have been used. The technique of mathematical description of system of transportation facility - manipulator, the synthesis technique of algorithm provision of control system of mobile manipulating robot have been wrought out; the designing technique of drive system of transportation facility of robot has been developed. The control algorithms of motion of mobile manipulating robot have been synthesized; the recommendations for the designing of control system has been developed; the application package allowing to study the dynamics of transportation facility - manipulator system has been developed. The control algorithms of motion of robot, the results of mathematical simulation of dynamics of mobile robot have been introducedAvailable from VNTIC / VNTIC - Scientific & Technical Information Centre of RussiaSIGLERURussian Federatio