The method of manipulability control of a robot

The method of manipulability control of a robot

Olga M. Kapustina
PhD in Technical Sciences, Associate Professor, Federal State Budgetary Educational Institution of Higher Education National Research University «Moscow Power Engineering Institute» (FGBOU VO «National Research University «MPEI»), Department of Robotics, Mechatronics, Dynamics and Strength of Machines, Assistant Professor, 14-1, Krasnokazarmennaya ul., ext. ter. Lefortovo municipal district, Moscow, 111250, Russia, tel.: +7(905)584-17-32, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0004-9948-0098

Alexander I. Kobrin
Doctor of Physical and Mathematical Sciences, Professor, FGBOU VO «National Research University «MPEI», Department of Robotics, Mechatronics, Dynamics and Strength of Machines, Professor, 14-1, Krasnokazarmennaya ul., ext. ter. Lefortovo municipal district, Moscow, 111250, Russia, tel.: +7(903)157-50-30, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0008-5889-981X

Kirill A. Kompaneets
Central Institute of Aviation Motors (CIAM), Software Engineer, 2, Aviamotornaya ul., Moscow, 111116, Russia, tel.: +7(916)027-93-12, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received October 19, 2022

Abstract
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.

Key words
Seven degree of freedom manipulator, kinematic function, manipulability, manipulability control, Canadarm2.

Acknowledgements
The research was carried out with financial support from the RNFwithin the framework of scientific project no. 22-21-00831.

DOI
10.31776/RTCJ.11205

Bibliographic description
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.

UDC identifier:
621.865.8

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