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Study of algorithms for dynamic correction of control in robotic waterjet cutting technology drives based on the principle of nested loops

Keywords:

A.A. Kobzev – Dr. Sc. (Eng.), Professor, Head of Department «Mechatronics and Electronic Systems of Vehicle», Vladimir State University named after A.&N. Stoletovs. E-mail: kobzev42@mail.ru N.A. Novikova – Ph. D. (Eng.), Associate Professor, Department «Mechatronics and Electronic Systems of Vehicle», Vladimir State University named after A.&N. Stoletovs. E-mail: natalia5104@mail.ru A.V. Lekareva – Post-graduate Student, Department «Mechatronics and Electronic Systems of Vehicle», Vladimir State University named after A.&N. Stoletovs. E-mail: tasya671@rambler.ru


In aggressive environments robotisation demands registration of technological process. This prosess is restricted from outer environment and from object. One of these processes is hydraulic hydrocutting of technological holes of different shapes in oil pipes or storage tanks for further cleaning, controlling and mounting processes. There are few variants for finding coordinates of the cutting surface. One of them is test try of cutting head with the distance sensors on it. The second oprion is test or working state/movement using predictions algorithms. As it is in both methods we need correction of control program on a tactical function level. Adaptive correction algorithms of programmed movement can be used here, based or invariant theory. Using self-adjustment method you can reach fourth invariant form. In this article used method of between coordinate correction. This method based on multi coordinated SAC shown as inner profile of the system. Additional autonomous control is developed in function of non-calculated force of «previous» coordinate. Inserting of adaptation profile will dramatically increase accuracy of the movement on the trajectory. According to analysis of the results we can see that there`s a need in adaptation module with variable ratio. Obviously next question for studying is algorithm that runs adaptation block. Your method and functions allows you to reach different results using different accuracy of data, speed of calculation and type of memory.
References:

 

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