Algorithm for Controlling the Movement of an Intellectual Manipulator, Built on the Basis of a Mechatron Module According to the Specified Trajectory and Position

This article will be devoted to the algorithm for controlling the movement of an intellectual manipulator, built on the basis of a mechatron module according to the established trajectory and position. A general model for calculating accelerations of the manipulator for each generalized coordinate is presented in order to ensure adaptation to the trajectory of the specified coordinate and position and changing conditions. The presented general mathematical model is used to model the dynamic movement of the intelligent manipulator to ensure adaptation to the specified coordinate and positional trajectory and to changing conditions, to construct the control elements that implement the movement of the lever along the specified nonlinear trajectory, and the optimality and stability conditions are considered. Also, a kinematic scheme is presented that allows to describe the actions of the handle of the intelligent manipulator in the control process according to the specified trajectory and position. The given kinematic scheme allows the control algorithm that ensures the movement of the intelligent manipulator along the specified trajectory and position, the calculation of excess displacements along the trajectory, the calculation of total forces through spatial coordinates, and the creation of control signals that are driven by control torques. The structural diagram of the control algorithm that ensures the movement of the intelligent manipulator along the specified trajectory and position based on the generated control signals is presented.