Integrated control techniques for PARASURG 9M parallel robot

The paper presents the mechanical and electronic structure, the basic functions and the operation block diagrams developed for the command and control unit of the PARASURG 9M hybrid parallel robot. The operator interface, structure and functions, algorithm and operating diagrams, deployment and implementation of the of CIParmis program are illustrated. The last part of the paper focuses on methods for functional testing of robot operation, subsequent analysis of operating parameters and controls specific to the robotic arms using the data mining technique.