Design and Simulation of Biotechnical Multidimensional Motion Control Systems of a Robot Manipulator

Abstract

The design of multidimensional velocity, position and force control algorithms for a semi-automatic motion control system of a robot-manipulator has been performed. Mathematical and computer models of a motion control system with reconfigurable structure have been developed for a 3-link robot performing standard operations set by a human operator with a 3-degree-of-freedom handle. 
Simulation of dynamic processes in a system with different control algorithms has been performed and their precision characteristics have been evaluated. The achieved results may be of interest for designers who develop training simulators for human supervisors of robot motion control systems.