Rational adjustments of positioning systems of industrial manipulators

The use of electromechatronic positioning modules for activating industrial robot manipulator links is characterized by the fact that mechanics parameters change within a wide range at a normal operation. A well-known tendency at solution of this problem is the use of additional channels of identification and adaptation. Existing variants of regulators apply neural networks, fuzzy logic and genetic algorithms. However, these solutions are not applicable for the cases where a high speed and competitive price are required. Electromechatronic modules with position regulators adjusted to the Bessel dynamics are easy to implement and meet the set dynamics requirements. The subject of this research is substantiation of fixed adjustment of position regulators to a certain inertia mechanics value reduced to the manipulator link. The analysis of positioning system characteristics is carried out based on a modern automatic control theory taking into account the application requirements and includes consideration of root locus and characteristics of the group delay time for various variants of the fixed adjustments. Characteristics of positioning systems are determined with the MathCAD and Simulink (Matlab) application. Possibility and efficiency of fixed adjustment of static and astatic position regulators, when changing inertia parameters in a wide range, have been justified due to combination of the classical analysis methods for the control system and possibilities of symbolical mathematics. The recommendation for fixed adjustments of static and astatic position regulators to the maximum value of the manipulator link reduced inertia has resulted in a theoretical substantiation. Systems of positioning manipulator links with such adjustment demonstrate stability of dynamic characteristics.