Olga M. Kapustina
Alexander I. Kobrin
Kirill A. Kompaneets
Received October 19, 2022
The paper presents the results of a numerical experiment that demonstrates the effectiveness of a control algorithm that maintains a sufficiently high numerical value of the robot's manipulability function , which ensures «remoteness» from a singular configuration. The problem of approaching the end effector of the space manipulator Canadarm2, which has seven degrees of freedom (one redundant generalized coordinate), with an object moving along a known trajectory, is considered. To the six parameters that determine the position and orientation of the gripper in absolute space, a «kinematic» function , depending on the relative rotation angles of the links, has been added. In this case, the kinematics equations became closed with respect to the rotation angles. The control law includes a condition for maintaining a certain numerical value that exceeds the minimum allowable value. Illustrations in the form of three-dimensional animation obtained on the basis of numerical integration of the equations of controlled motion of the manipulator and the object were built using the Mathematica computer algebra system.
Seven degree of freedom manipulator, kinematic function, manipulability, manipulability control, Canadarm2.
The research was carried out with financial support from the RNFwithin the framework of scientific project no. 22-21-00831.
Kapustina, O.M, Kobrin, A.I. and Kompaneets, K.A. (2023). The method of manipulability control of a robot. Robotics and Technical Cybernetics, 11(2), pp. 118-123.
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