Abstract

A method of robust control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The complex consists of a wheeled platform, a wheeled vertical motion robot with a vacuum contact device and a manipulator. In the transport position, the robot is attached to the operating element (gripper) of the manipulator and is located on the platform so that its contact plane is almost parallel to the plane of the platform. After the platform approaches the wall, the manipulator brings the robot into the working position, bringing its contact plane to the surface of the wall. Then the vacuum pump of the robot is switched on, the robot is sucked against the wall, disconnects from the grasp of the manipulator, and then moves along the wall in autonomous mode. This article describes the operation of the manipulator at the stage of bringing the robot into the working position.

中文翻译：

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对具有闭合运动链和线性执行器的机械手的运动进行建模和控制

摘要

提出并研究了一种对专门设计的机械手进行鲁棒控制的方法，该机械手设计为作为机器人综合体的一部分，用于维修垂直表面。该综合体由一个轮式平台、一个带有真空接触装置的轮式垂直运动机器人和一个机械手组成。在运输位置，机器人连接到机械手的操作元件（夹具）并位于平台上，使其接触平面几乎与平台平面平行。平台靠近墙壁后，机械手将机器人带入工作位置，使其接触面接触墙壁表面。然后打开机器人的真空泵，将机器人吸靠在墙上，脱离机械手的抓握，然后以自主模式沿着墙壁移动。