Robotic electromechanical object control by means of variable structure system
Latvia University of Life Sciences and Technologies, Faculty of Engineering, 5 J. Cakstes blvd., Jelgava LV-3001, Latvia
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The practical purpose of robot design is to transfer types of complex human activities that require much effort, are monotonous and harmful. The robotic systems differ from traditional automation measures in terms of their universality and the possibility to reconstruct them quickly which enables them to create flexible automation production measures on the basis of universal equipment. Therefore, the subject matter of the present article is constituted by manipulator robot control system methods (semi-continuous control method, coordinator parameter control method and adaptive control method etc.) and the aim of the present study is to cover the said manipulator robot control system methods in order to assess the problems relating to their application and to provide the potential solutions. In analysing studies by other authors and assessing the results based on them, the following results of the present article were obtained: having regard to the peculiarities of control object model, due to their universality, theoretical methods of systems with semi-continuous control are the most attractive. The approach of other studies is also improper as it is claimed that the dynamics of electric executive equipment may be neglected and control moments can be formed in the same way as breakage functions and the problem which occurred may partly be solved, by using the advantages of the system with semi-continuous control in the pre-limiting situation which occurs by approximating semi-continuous control by means of continuous functions. The fundamental gap of the majority of electromechanical object control studies is, first of all, related with the fact that the phase variables are considered measurable, so the necessity arises to note that the entire complex of measurement equipment may lead to a significantly more expensive control system; moreover, measurement equipment adds additional dynamics to the control system and makes the synthesis procedure even more complex.