title: Ð¡Ð¸Ð½ÑÐµÐ· Ð¸ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¸Ð¾Ð½Ð½ÑÐ¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°Ð¼Ð¸ Ñ ÑÐ¸Ð»Ð¾Ð²ÑÐ¼ Ð¾ÑÑÐ²ÑÑÐ²Ð»ÐµÐ½Ð¸ÐµÐ¼
title: Synthesis and computer simulation of robot manipulator control systems with force sensing
Creators: name: Ð Ð¾ÑÑÐ¾Ð², ÐÐ¸ÐºÐ¾Ð»Ð°Ð¹
name: Ð Ð¾ÑÑÐ¾Ð²Ð°, ÐÐºÐ°ÑÐµÑÐ¸Ð½Ð°
name: "Ð¡Ð¸ÑÑÐµÐ¼Ð½ÑÐ¹ Ð°Ð½Ð°Ð»Ð¸Ð· Ð² Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ð¸ Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ð¸", Ð¼ÐµÐ¶Ð´ÑÐ½Ð°ÑÐ¾Ð´Ð½Ð°Ñ Ð½Ð°ÑÑÐ½Ð¾-Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ°Ñ ÐºÐ¾Ð½ÑÐµÑÐµÐ½ÑÐ¸Ñ (26; 2022; Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³)
Publisher: name: ÐÐÐÐÐ¢ÐÐ¥-ÐÐ ÐÐ¡Ð¡
Year: 2023
Subjects: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
ÐÐ²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð¾ÑÑÐ²ÑÑÐ²Ð»ÐµÐ½Ð¸Ðµ
Ð´Ð°ÑÑÐ¸Ðº ÑÐ¸Ð»Ñ
ÑÐ°Ð·Ð¾Ð¼ÐºÐ½ÑÑÐ¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð·Ð°Ð¼ÐºÐ½ÑÑÐ¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ
Ð°Ð½Ð¸Ð¼Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ°Ñ Ð¾ÑÐ¸Ð±ÐºÐ°
force sensing
force sensor
open-loop control
closed-loop control
digital controller
animation model
dynamic error

description: Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¸ÑÑÐ»ÐµÐ´ÑÑÑÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ñ ÑÐ¸Ð»Ð¾Ð²ÑÐ¼ Ð¾ÑÑÐ²ÑÑÐ²Ð»ÐµÐ½Ð¸ÐµÐ¼ Ñ Ð¼Ð½Ð¾Ð³Ð¾ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÐ½ÑÐ¼ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð¼ ÑÐ¸Ð»Ñ ÑÐ°Ð±Ð¾ÑÐµÐ³Ð¾ Ð¾ÑÐ³Ð°Ð½Ð° ÑÐ¾Ð±Ð¾ÑÐ°. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ ÑÑÑÑÐºÑÑÑÐ½ÑÐ¹ ÑÐ¸Ð½ÑÐµÐ· Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¸ÑÑÐµÐ¼ ÑÐ¸Ð»Ð¾Ð²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ 3-Ð·Ð²ÐµÐ½Ð½ÑÐ¼ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¸Ð¾Ð½Ð½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼, ÑÐ°Ð·Ð¾Ð¼ÐºÐ½ÑÑÑÑ Ð¸ Ð·Ð°Ð¼ÐºÐ½ÑÑÑÑ Ð¿Ð¾ Ð²ÐµÐºÑÐ¾ÑÑ ÑÐ¸Ð»Ñ. ÐÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð° Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð°Ñ Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ° ÑÐ¸ÑÑÐ¾Ð²ÑÑ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ¾Ð² Ð´Ð»Ñ ÑÐ¸ÑÑÐµÐ¼ Ñ ÑÐ°Ð·Ð½ÑÐ¼Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð°Ð¼Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ Ð°Ð½Ð¸Ð¼Ð°ÑÐ¸Ð¾Ð½Ð½ÑÐµ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½ÑÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð´Ð»Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² Ð² ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼ÑÑ ÑÐ¸ÑÑÐµÐ¼Ð°Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾ÑÐ¸Ð±Ð¾Ðº ÑÐ¸ÑÑÐµÐ¼ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ñ ÑÐ°Ð·Ð½ÑÐ¼Ð¸ ÑÑÑÑÐºÑÑÑÐ°Ð¼Ð¸ Ð² ÑÐ¸Ð»Ð¾Ð²ÑÑ ÑÐµÐ¶Ð¸Ð¼Ð°Ñ ÑÐ°Ð±Ð¾ÑÑ. ÐÐ¾ÐºÐ°Ð·Ð°Ð½Ð¾, ÑÑÐ¾ Ð½Ð°Ð¸Ð¼ÐµÐ½ÑÑÐ¸Ðµ Ð¾ÑÐ¸Ð±ÐºÐ¸ Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÐµÑ 2-ÐºÐ¾Ð½ÑÑÑÐ½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°, Ð·Ð°Ð¼ÐºÐ½ÑÑÐ°Ñ Ð¿Ð¾ Ð²ÐµÐºÑÐ¾ÑÑ ÑÐ¸Ð»Ñ, Ð¿Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ñ ÑÐ°Ð·Ð¾Ð¼ÐºÐ½ÑÑÐ¾Ð¹ Ð¿Ð¾ Ð²ÐµÐºÑÐ¾ÑÑ ÑÐ¸Ð»Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ Ð¸ 2-ÐºÐ°Ð½Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÐ°Ð·Ð¾Ð¼ÐºÐ½ÑÑÐ¾-Ð·Ð°Ð¼ÐºÐ½ÑÑÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ ÑÐ¸Ð»Ð¾Ð²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ.
description: The paper investigates control systems with force sensing with a multicomponent force sensor in the robot tool. Structural synthesis of algorithms for the force control systems, open-loop and closed-loop, for a 3-link robot manipulator is performed. Optimal tuning of digital regulators for systems with different control algorithms is completed. Animation computer models for studying the processes in control systems under consideration are built. Based on the results of simulation, comparison of dynamic errors in control systems with different structures has been carried out for force operation modes. It is shown that the minimal errors are obtained in a 2-loop system closed by the force vector, compared to an open-loop force control system and a 2-channel open-closed force control system.