N.E. Sadkovskaya1, V.I. Tarasov2, A.V. Kanygin3, M.V. Kovalenko4, S.E. Maintsev5, D.S. Ukolov6

1 Moscow Aviation Institute (National Research University) (Moscow, Russia)

2,4 JSC "Special Design Bureau of the Moscow Power Engineering Institute" (Moscow, Russia)

3,6 Bauman Moscow State Technical University (Moscow, Russia)

5 JSC "Lavochkin Scientific and Production Association" (Moscow, Russia)

Problem setting. The main directions in the design and programming of vertical movement robots have certain operational risks, which form the basis of the reasons for the insufficient level of consideration of all possible scenarios. The main problem of vertical movement robots is the identification of specific situations.

Target. Modeling of some critical situations that arise during the operation of the RVP. Development of algorithms for the functioning of the tactical and executive levels of management of the RVP.

Results. The problem of identification of specific situations arising during the functioning of a vertical movement robot is considered. Some critical situations are proposed for consideration, the forces acting on the robot nodes are illustrated. A robot model was created and programmed in the MATLAB Simulink environment in order to study the current indicators in the robot's electric motors. A submodel of an electric motor is described, based on the data of the technical passport of an existing product, reliably behaving in the conditions of the simulation. The simulation of one of the critical scenarios is considered, the indicators of the electric motor current are analyzed.

Practical significance. The complex of developed modeling methods makes it possible to improve the quality of design and programming of the RVP and reduce the risks of destruction of the RVP structure in the state of a closed kinematic system. Based on the data obtained, a criterion for identifying critical current situations in the motor armature circuit is derived.

Sadkovskaya N.E., Tarasov V.I., Kanygin A.V., Kovalenko M.V., Maintsev S.E., Ukolov D.S. Identification of the state of the vertical movement robot by the internal variable of the current indicator. Neurocomputers. 2023. V. 25. № 3. Р. 20-29. DOI https://doi.org/10.18127/j1999 8554- 202302-02. (In Russian)

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