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Interpolation method for digital control systems of industrial robots


A. Zelensky, D. Bondar, Yu. Valukevich

In this paper we consider an approach that can provide movement along a complex path with higher accuracy compared to traditional methods with considering the physical properties of the drive. Underlying this approach is the analysis of the local matrices of different dimension in the area close to the specified function. This approach allows do not take into account the interpolation nodes which make an error in the circuit taking into account equidistant working tool. In this paper we consider an example of the proposed method for control system of the mechanism with two degrees of freedom designed to handle the material in a complex circuit without contact. Developed a computer model showing the advantages of this approach over classical.

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