Building Unified Control System for Multi-Link Industrial Manipulators

The paper deals with the synthesis of a unified control system for kinematically redundant multilink industrial manipulators based on stepper electric drives. The proposed control system is based on a decentralized multi-tier architecture using programmable logic devices. The developed control system provides the ability to scale when changing design parameters and the number of links of the manipulator. For the proposed control system, a hybrid algorithm for finding solutions to kinematic problems is developed. The developed algorithm for solving inverse kinematics allows the construction of the presented control system for operation in real time with the control of the accuracy of the calculations. The search for a solution of kinematic problems is based on the neural network approach in combination with numerical refinement algorithms. To confirm the validity of the analysis of the developed algorithms on the experimental stand. An experimental stand is built for a three-bar industrial manipulator using stepper electric drives from Festo.