Transformation method for a nonlinear manipulator model

Abstract

A continuous improvement of manipulators with a software control continues to occupy an important place in important areas of production and management. The work considers the problem of improving low-cost robotic manipulators with programmed a control. Authors achieved improved performance by using the method of polynomial transformations. The proposed a transformation method makes it possible to effectively construct a solution for a nonlinear manipulator model with a guaranteed third-order accuracy. This paper provides a detailed description of mathematical transformations to construct a solution to a nonlinear matrix equation using Lagrange equations. The experiment shows the solution to the problem of moving an object from the initial to the ultimate point of space. The results of the experiment show the change in angles of the six links of the manipulator when moving from the initial position of the grip to the final position, as well as speeds for six links of the manipulator with three sections of a movement for each link: uniformly accelerated a movement, a uniform movement with working speed and uniformly slowed down a movement to stop at the final set point. The accuracy of the solution confirmed the author’s method by the presented a method of dynamic equations. The method can solve nonlinear models.