Automatic safe motion control system for a robotic manipulator

被引：3
|
作者：
Kartashev, V. A. [1 ]
Safronov, V. V. [1 ]
机构：
[1] Russian Acad Sci, Keldysh Inst Appl Math, Moscow, Russia
来源：
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL | 2017年 / 56卷 / 02期
基金：
俄罗斯基础研究基金会;
关键词：
D O I：
10.1134/S1064230717020113
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper is devoted to improving the automatic safe motion control system of a robotic manipulator, in such a way that the system, in addition to its primary function of shutting down the power drives in the case of overload, becomes capable of checking the operability of all its components. The proposed modification of the control system's architecture makes it possible to prevent large deviations from the programmed motion even if only some of the console controllers remain operational.
引用
收藏
页码：328 / 333
页数：6
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