A.N. Privalov1, A.I. Akimenko2

1 Tula State Pedagogical University named after L.N. Tolstoy (Tula, Russia),

2 Shuya Branch of the Ivanovo State University (Shuya, Russia)

1 privalov.61@mail.ru, 2 andrei-951206@mail.ru

A digital control system for a three-link manipulator is needed to ensure that the actuator follows a specified spatial trajectory. This is achieved by controlling the movement of individual manipulator links: each link is equipped with an electric motor and sensors for monitoring movement, and the link movement is controlled by a programmable control device. The strategic controller defines the control goal, which is set according to the tasks that the three-link manipulator performs in the technological process. The goal can be defined in a dialogue with a human operator who designs the technological process, or using an artificial intelligence system. The data array is transmitted to the tactical level controller. The separation between the strategic and tactical controllers can be physical, i.e., they can be different computers that exchange data over a local network using standard network protocols, or virtual, i.e., the controllers can be physically implemented on the same computer and exchange data through software interfaces. According to the algorithm, a semi-Markov model of the cyclic control system can be constructed. The results of this study can be used in developing software for robots with three-link manipulators.

Privalov A.N., Akimenko A.I. Digital control system for three-link manipulator //  Information-measuring and Control Systems. 2026. V. 24. № 3. P. 90−97. DOI: https://doi.org/10.18127/j20700814-202603-10

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