This article is devoted to neural network models of adaptive position-trajectory control systems of moving objects. Neural network models of adaptive positional-trajectory control systems of moving objects have been developed on the basis of proportional-differential adjusters, which allow for quick calculation and determination of nonlinear characteristics of the system. Also, the kinematic scheme of the multi-link industrial robot is presented for describing the motion of the multi-link industrial robot according to the specified traction and positions, and for representing the input forces and training in the neural network. Mathematical models for calculating the linear and rotational movements of the manipulator handle in the x and y coordinate positions and directions are presented. The presented kinematic scheme and mathematical models serve to develop the structure of adaptive position-trajectory control systems of multi-link industrial robot manipulator based on neural network models. In the control structure, the two-layer model of the neural network allows calculation of tracking errors and moments in the specified coordinate trajectory, individual control of each link based on the signals received from the position sensor of the links, and visualization based on computer technologies.
| Mualliflar | Dildora Usmonovna Sevinova |
|---|---|
| Jurnal | Кимёвий технология. Назорат ва бошқарув |
| Nashr sanasi | 2024-10-24 |
| Jild | 2024 |
| Son | 5 |
| Betlar | 143-149 |
| Til | en |
| DOI | 10.59048/2181-1105.1644 |
DOI: 10.59048/2181-1105.1644 · Maqolaning asl sahifasi
This article is devoted to the principles and models of building linear motion actuators with holonomic structure for the movement of intelligent robots. Also, the classification of the elements of the linear movement…
The article explores the impact of electromagnetic interference on the performance of measuring devices used in industrial environments. An experimental analysis of sensor parameters and the influence of electromagnetic…
The paper considers the issues of synthesizing an adaptive fuzzy synergetic controller with discrete time for nonstationary nonlinear dynamic objects. The proposed approach is based on the integrated use of synergetic…
Automatic control systems in the oil and gas processing are considered. After extraction of natural gas condensate, management of technological parameters plays an important role in its processing. Among the parameter…
This paper presents the mechatronic design of a proposed six-degree-of-freedom (6-DOF) stationary lower limb rehabilitation exoskeleton (SLLRE) robot, developed through a comprehensive mechatronic design methodology…
In the article, the magnetic chain of a differential type angular displacement transformer converter with a variable active area of a movable ferromagnetic ring is considered as a magnetic chain with distributed…
The article reveals the meaning and essence of the modeling method in the study of complex technological processes based on the problematic aspects of building multifactorial relationships and the principles for their…
The requirements of high operational reliability are most fully met by automated monitoring and control systems, the elements of which are magnetoelastic sensors. Such sensors, due to their metrological characteristics…
The article discusses the features of a magnetoelastic transformer type transducer. In magnetoelastic transformer-type transducers, mutual inductance is assumed as a variable value, which is a function of the value of…
The article examines the dynamic characteristics of the mechanical circuit of the developed induction vibration transducer. It is found that in the investigated transducers forced oscillations occur with the frequency…