Akimenko A.I.1, Privalov A.N.2

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

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

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

The position control system ensures precise movement of the robot's working tool during the execution of the assigned task. The control signal generates a motion trajectory, which consists of a sequence of frames calculated by algorithms. The three-degree-of-freedom manipulator, consisting of three linear actuators, each of which moves the working tool along its own Cartesian coordinate independently of the other actuators, allows for the individual setting of motion parameters for each linear actuator without interfering with the movement along other coordinates. deally, the trajectory followed by the cargo should be a straight line without any kinks. In the positional mode, the entire trajectory of the three-degree-of-freedom manipulator's working tool is divided into zones, each of which does not exceed the capacity of the storage and change registers for the distance code that the manipulator must cover in the xOyz coordinate. Moving a load along a predetermined trajectory is a technological operation used in welding, painting, and surface treatment with a moving tool. To control the movement along a trajectory, it must be represented as a piecewise-linear broken line, each segment of which must fit into a parallelepiped with sides oriented along the xOyz coordinate axes. The type of curve along which the robot's working tool moves is specified based on additional conditions determined by the technological process that uses a three-degree-of-freedom manipulator. The results of this study can be used in developing software for robots with three-link manipulators.

Akimenko A.I., Privalov A.N. Position control system // Information-measuring and Control Systems. 2026. V. 24. № 3. P. 98−108. DOI: https://doi.org/10.18127/j20700814-202603-11

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