BSU Bulletin. Mathematics, Informatics
Bibliographic description:
, , , , LOGICAL CONТROL OF ТНЕ ROBOТIC SYSTEM FOR SНЕЕТ STAМPING OF ТITANIUМ ALLOYS // BSU Bulletin. Mathematics, Informatics. - 2018. №4. . - С. 48-57.
Title:
LOGICAL CONТROL OF ТНЕ ROBOТIC SYSTEM FOR SНЕЕТ STAМPING OF ТITANIUМ ALLOYS
Financing:
Работа выполнена при финансовой поддержке гранта «Молодые ученые ВСГУТУ»
Codes:
Annotation:
Тhе article deals with the mathematical modeling of the system of robotics control of the titanium forgings stamping for helicopter rotor Ыades Ьу means of finite-state machines. Тhе use of this mathematical apparatus has allowed us to present а single control logic for controlling а robotic system consisting of а number of interacting sub systems that perform а common task.
We have proposed an approach describing the logic of dispatching control, planning and responding to eпors during operation in the form of а finite-state-machine network ofall subsystems ofthe robotic system at the stage ofits design and development ofthe stamping technological process.
Тhе article studies the structure of the system for roЬotics control, including the automated equipment for sheet metal stamping, а device for radiation heating of for gings, а stock feeder, а device for receiving finished products and an industrial robotic manipulator.
We have proposed an approach describing the logic of dispatching control, planning and responding to eпors during operation in the form of а finite-state-machine network ofall subsystems ofthe robotic system at the stage ofits design and development ofthe stamping technological process.
Тhе article studies the structure of the system for roЬotics control, including the automated equipment for sheet metal stamping, а device for radiation heating of for gings, а stock feeder, а device for receiving finished products and an industrial robotic manipulator.
Keywords:
robotic system; radiation heating; stamping, finite-state machines; con trol system; mathematical modeling.
List of references:
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Rudnev V. V. Konechnyi avtomat kak ob"ekt upravleniya [State Machine as а Controlled Object]. Avtomatika i telemekhanika - Automation and Remote Control. 1978. No. 9. Рр. 126-135.
Ivanov V. А , Medvedev V. S. Matematicheskie osnovy teorii optimal'nogo i logicheskogo upravleniya [Mathematical Foundations of the Theory of Optimal and Logical Control]. Moscow: Bauman Moscow State Technical University РuЫ., 2011. 599 р.
Maksimov А А , Gao Zhining. Upravlenie robototekhnicheskimi kompleksami na osnove konechnykh avtomatov s peremennoi strukturoi [Robotics Control Based on State Machines with VariaЫe Structure]. Vestnik Moskovskogo gosudarstvennogo technicheskofo universiteta im. N Е. Ваитапа - Bulletin of Ваитап Moscow State Technical University. 2001. No. 1. Р. 112.
Maksimov А А Odin podkhod k postroeniyu konechno-avtomatnoi upravlya yushchei seti [An Approach to Building а Finite-State-Machine Control Network]. Vestnik Moskovskogo gosudarstvennogo technicheskofo universiteta im. N Е. Ваитапа. Priborostroenie. Spets. vyp. 6: Robototekhnicheskie sistemy - Bulletin of Ваитап Moscow State Technical University. lnstrumentation. Special Edition 6: Ro botic Systems. 2012. Рр. 14-29.
Novorusskii V. V. Konechnoavtomatnye sistemy upravleniya (printsipy postro eniya i analiz povedeniya) [Finite-State-Machine Control Systems (principles of con struction and analysis ofbehavior)]. NovosiЬirsk: Nauka РuЫ., 1982. 270 р.
Rudnev V. V. Konechnyi avtomat kak ob"ekt upravleniya [State Machine as а Controlled Object]. Avtomatika i telemekhanika - Automation and Remote Control. 1978. No. 9. Рр. 126-135.
Ivanov V. А , Medvedev V. S. Matematicheskie osnovy teorii optimal'nogo i logicheskogo upravleniya [Mathematical Foundations of the Theory of Optimal and Logical Control]. Moscow: Bauman Moscow State Technical University РuЫ., 2011. 599 р.
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