Positional-velocity control of the manipulator built on the basis of an intelligent mechatron module

The use of Industry 4.0 technologies in modern production serves to increase production efficiency. Robots and robotic complexes with innovative intelligent control are widely used in industrial production. However, the variety and complexity of their control methods and modes negatively affects the operators' working time and production productivity. In such cases, it is necessary to improve the control methods and to develop the technologies used in the industry, including robots and robotic manipulators, which allow to perform short movements with high accuracy and speed. The method and modes of position-velocity control of the manipulator built on the basis of the intelligent mechatron module are considered in the article. At the same time, a structural scheme of the combined control system was developed, which calculates the values of relative movement speeds for the links of the manipulator execution mechanism based on mathematical models. In addition, the requirements for the position-velocity control system, methods for eliminating the transient processes occurring during the control process are proposed. The advantages of time saving and control method in position-velocity control during manipulator control by the operator are given.

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