ArticlePDF Available

Vertical motion robot in the mining industry

Authors:
Nataliya Sadkovskaya
Nataliya Sadkovskaya
Nataliya Sadkovskaya
  • This person is not on ResearchGate, or hasn't claimed this research yet.
Igor Kartsan at Sevastopol State University
Igor Kartsan
Aleksandr Zhukov
Aleksandr Zhukov
Aleksandr Zhukov
  • This person is not on ResearchGate, or hasn't claimed this research yet.
Vladimir Tarasov
Vladimir Tarasov
Vladimir Tarasov
  • This person is not on ResearchGate, or hasn't claimed this research yet.
Show all 7 authorsHide
Download full-text PDF
Read full-text
Download citation

Abstract

The main directions in the design and programming of vertical motion robots for the mining industry have certain operational risks that underlie the reasons for the lack of consideration of all possible scenarios. The main problem of vertical motion robots is the identification of specific situations. The problem of identification of specific situations occurring during the operation of a vertical motion robot is considered. Some critical situations are proposed for consideration, the forces acting on the robot nodes are illustrated. A model of the robot in MATLAB Simulink environment is created and programmed in order to study the current indicators in the electric motors of the robot. The submodel of the electric motor, based on the data of the technical data sheet of the existing product, which behaves reliably under the conditions of the simulation, is described. The simulation of one of the critical scenarios is considered, and the motor current indicators are analyzed.
Available via license: CC BY 4.0
Content may be subject to copyright.
Vertical motion robot in the mining industry
Nataliya Sadkovskaya1, Igor Kartsan2,3,*, Aleksandr Zhukov 4,5, Vladimir Tarasov6, Andrey
Kanygin7, Mikhail Kovalenko6, and Semyon Maintsev8
1Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow,
125993, Russia
2Marine Hydrophysical Institute, Russian Academy of Sciences, 2, Каpitanskaya str., Sevastopol,
299011, Russia
3Reshetnev Siberian State University of Science and Technology, 31, Krasnoiarskii Rabochii
Prospekt, Krasnoyarsk, 660037, Russia
4Expert and Analytical Center, 33, Talalikhina str., Moscow, 109316, Russia
5Institute of Astronomy of the Russian Academy of Sciences, 48, Pyatnitskaya str., Moscow, 119017,
Russia
6Joint Stock Company "Special Research of Moscow Power Engineering Institute", 14
Krasnokazarmennaya str., Moscow, 111250, Russia
7Bauman Moscow State Technical University, 2-ya Baumanskaya st., 5, bld. 1, Moscow, 105005,
Russia
8Lavochkin Association, 24 Leningradskaya st., Khimki, Moscow region, 141402, Russia
Abstract. The main directions in the design and programming of vertical
motion robots for the mining industry have certain operational risks that
underlie the reasons for the lack of consideration of all possible scenarios.
The main problem of vertical motion robots is the identification of specific
situations. The problem of identification of specific situations occurring
during the operation of a vertical motion robot is considered. Some critical
situations are proposed for consideration, the forces acting on the robot
nodes are illustrated. A model of the robot in MATLAB Simulink
environment is created and programmed in order to study the current
indicators in the electric motors of the robot. The submodel of the electric
motor, based on the data of the technical data sheet of the existing product,
which behaves reliably under the conditions of the simulation, is described.
The simulation of one of the critical scenarios is considered, and the motor
current indicators are analyzed.
1 Introduction
The emergence of vertical mobile robots (VMR) is due to the need to automate various
technological operations that require movement or attachment to inclined and vertical
surfaces [1, 2].
To date, a large number of prototypes of such robots have been created in the world, in
the design of which all the main types of propulsors (wheel, caterpillar, walking) and methods
* Corresponding author: kartsan2003@mail.ru
© The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons
Attribution License 4.0 (https://creativecommons.org/licenses/by/4.0/).
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
of holding (magnetic, vacuum, air screw, mechanical grippers, adhesive materials) are used
[3-10].
A common problem of such robots is the need to consider undesirable forces and
moments when gripping devices (GDs) engage the supporting surface, which requires the
introduction of pliability in the robot actuators [7, 11]. This problem can be solved by
estimating the forces and moments in the manipulator links using the currents of the actuating
collectorless motors [12-17].
Human work on vertical surfaces and at high altitudes is always associated with a certain
risk, so the realization of purposeful actions in extreme conditions with the help of robots
instead of people is often a prerequisite for the performance of inspection, painting, washing
of building surfaces. Mobile robots can be equipped with mechanical, magnetic, adhesive,
pneumatic vacuum gripping devices to ensure movement on exterior building surfaces.
2 Object of study
In the design of the walking robot, it is proposed to use four rotational joints and one linear
motion joint. The walking robot we are considering can move on uneven or vertical planes
consisting of various flat areas. The robot has a multi-level control system including strategic,
tactical and executive levels. The strategic level is designed to solve the tasks of motion
planning and data exchange with the control panel. The tactical level is used to transform
motion control commands and react to external influences. The executive level is used to
control the drive system of the vertical motion robot. In this paper, the features of the
executive level of the vertical motion robot are discussed.
The structural scheme of the VMR is shown in Figure 1.
Fig. 1. Design scheme of a walking robot with five degrees of mobility (I-V).
The mechanical system of the robot includes a central link 1 with a telescopic mechanism
of translational movement along the Y axis (arrow IV), side links 2 and 3 with supports 6 and
7 mounted at their ends. The supports 6 and 7 are connected to gripping devices. On one side,
the central link 1 is connected to the side link 2 through a pivoting joint around the X axis
(arrow I), on the other side, a pivoting joint 5 around the Y axis (arrow V) is attached to the
central link. The pivot 5 is connected by a pivot around the Z axis (arrow III) to the link 4,
2
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
of holding (magnetic, vacuum, air screw, mechanical grippers, adhesive materials) are used
[3-10].
A common problem of such robots is the need to consider undesirable forces and
moments when gripping devices (GDs) engage the supporting surface, which requires the
introduction of pliability in the robot actuators [7, 11]. This problem can be solved by
estimating the forces and moments in the manipulator links using the currents of the actuating
collectorless motors [12-17].
Human work on vertical surfaces and at high altitudes is always associated with a certain
risk, so the realization of purposeful actions in extreme conditions with the help of robots
instead of people is often a prerequisite for the performance of inspection, painting, washing
of building surfaces. Mobile robots can be equipped with mechanical, magnetic, adhesive,
pneumatic vacuum gripping devices to ensure movement on exterior building surfaces.
2 Object of study
In the design of the walking robot, it is proposed to use four rotational joints and one linear
motion joint. The walking robot we are considering can move on uneven or vertical planes
consisting of various flat areas. The robot has a multi-level control system including strategic,
tactical and executive levels. The strategic level is designed to solve the tasks of motion
planning and data exchange with the control panel. The tactical level is used to transform
motion control commands and react to external influences. The executive level is used to
control the drive system of the vertical motion robot. In this paper, the features of the
executive level of the vertical motion robot are discussed.
The structural scheme of the VMR is shown in Figure 1.
Fig. 1. Design scheme of a walking robot with five degrees of mobility (I-V).
The mechanical system of the robot includes a central link 1 with a telescopic mechanism
of translational movement along the Y axis (arrow IV), side links 2 and 3 with supports 6 and
7 mounted at their ends. The supports 6 and 7 are connected to gripping devices. On one side,
the central link 1 is connected to the side link 2 through a pivoting joint around the X axis
(arrow I), on the other side, a pivoting joint 5 around the Y axis (arrow V) is attached to the
central link. The pivot 5 is connected by a pivot around the Z axis (arrow III) to the link 4,
which in turn is connected to the side link 3 through a pivot around the X axis (arrow II). The
use of the translational movement unit allows changing the distance between the centers of
the supports 6 and 7. Electromagnets are used to hold the robot on vertical surfaces.
The robot is moved as follows. Before starting the movement, both legs 6 and 7 are fixed
on a flat surface (vertical, inclined, horizontal). Then one of the supports is unlocked and
moved. A set of actuators allows the robot to bend along the longitudinal axis, rotate the
gripper, and move the gripper along the axis.
3 Unsecured fixation of the gripping devices on the target plane
In the process of taking a step, an important stage is the fixation of the gripping device to the
target surface, as it is the immobility of the gripping devices that ensures the movement of
the robot in space. However, during a step, it is impossible to guarantee the fixation of the
gripping devices, which is due to the imperfection of mechanisms for ensuring the immobility
of the gripping devices and possible defects of the target surface [10].
If the grippers are not securely fixed, stepping can lead to the robot's sole coming off the
support, loss of immobility relative to the target surface, and loss of control over the robot
with its further destruction. The position of the robot with loose gripping devices is shown in
Figure 2.
Fig. 2. Position of the robot with the grippers (7) loosely clamped in the middle of a step.
This scenario can be prevented by detecting a loose gripper attachment in time, canceling
the step, finding a new attachment point, and moving the grippers to the new target position.
The fixation check can be performed internally on the vertical motion robot.
To perform the check, the robot performs a telescopic actuator movement in a known
closed kinematic situation. The current level in the moving actuator is monitored. Exceeding
a critical current level will indicate that the applied displacement force is greater than the
clamping reaction force of the grippers. A visualization of the clamping strength test process
is shown in Figure 3.
a)
b
)
Fig. 3. The robot checks that the front gripper is firmly attached. a) Telescopic actuator in initial
position; b) Telescopic actuator extended.
3
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
4 Securing gripping devices on an unstable surface
While moving over a surface, the robot may encounter an obstacle that is recognized as a
possible attachment point for one of the gripping devices, but is in fact pliable when a load
is applied. In such a case, when using such an obstacle as a support, it is likely that the
obstacle will dislodge and the robot will lose control of its movement, Figure 4.
Fig. 4. Securing the gripping device (7) on an unstable surface.
In the framework of modeling the following situation is assumed: from the point of view
of internal parameters of the robot state (value of current angles of actuators, value of current
in electric circuits of electric motors, signals of limit switches) after completion of a step
forward, it is impossible to judge about the quality of gripping device fixation without
additional check. As such a check, a bending drive movement until the pre-critical current
values are reached is suggested.
The expert system for robot state estimation has at its disposal state data and a local
motion map containing a set of target local motions for the actuators. The estimation of some
external force can be a comparison of the magnitude of this force with the force developed
by the robot's actuators for vertical movement. For this purpose, it is necessary to try to make
a movement in the direction to be checked, while being in a known position of the closed
kinematic scheme.
In this case, the obstacle stability test consists of trying to move the obstacle. The
telescopic actuator extends to move the obstacle and the current level is also monitored. If
displacement occurs, but the current level does not exceed critical values, then a decision can
be made as to the strength of the obstacle being tested. Figure 5 shows the initial stage of
testing an unstable obstacle, with the robot attaching the gripper to the target surface.
a)
b
)
Fig. 5. Visualization of the inspection of a shearable obstacle by applying force to the telescopic
actuator of a vertical displacement robot. a) Telescopic actuator is folded; b) Telescopic actuator is
extended, the obstacle is moved.
4
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
4 Securing gripping devices on an unstable surface
While moving over a surface, the robot may encounter an obstacle that is recognized as a
possible attachment point for one of the gripping devices, but is in fact pliable when a load
is applied. In such a case, when using such an obstacle as a support, it is likely that the
obstacle will dislodge and the robot will lose control of its movement, Figure 4.
Fig. 4. Securing the gripping device (7) on an unstable surface.
In the framework of modeling the following situation is assumed: from the point of view
of internal parameters of the robot state (value of current angles of actuators, value of current
in electric circuits of electric motors, signals of limit switches) after completion of a step
forward, it is impossible to judge about the quality of gripping device fixation without
additional check. As such a check, a bending drive movement until the pre-critical current
values are reached is suggested.
The expert system for robot state estimation has at its disposal state data and a local
motion map containing a set of target local motions for the actuators. The estimation of some
external force can be a comparison of the magnitude of this force with the force developed
by the robot's actuators for vertical movement. For this purpose, it is necessary to try to make
a movement in the direction to be checked, while being in a known position of the closed
kinematic scheme.
In this case, the obstacle stability test consists of trying to move the obstacle. The
telescopic actuator extends to move the obstacle and the current level is also monitored. If
displacement occurs, but the current level does not exceed critical values, then a decision can
be made as to the strength of the obstacle being tested. Figure 5 shows the initial stage of
testing an unstable obstacle, with the robot attaching the gripper to the target surface.
a)
b
)
Fig. 5. Visualization of the inspection of a shearable obstacle by applying force to the telescopic
actuator of a vertical displacement robot. a) Telescopic actuator is folded; b) Telescopic actuator is
extended, the obstacle is moved.
5 Conclusions
The value of the current level signal in the case of a firmly clamped gripper shows an increase
in resistance at the start of movement. This is due to the increasing reaction force of the
gripper support, which is influenced by the telescopic actuator. The fluctuation of the current
signal levels in the motor circuit at the beginning and end of the movement is due to the
correction applied.
The shear check of a solid obstacle induces a support reaction force, which is reflected in
an increase of the current signal level in the motor circuit. At the same time, the current level
in the case of the shear obstacle is higher than in the case of the gripper slipping because the
displaced weight of the robot body and the gripper is less than the combined weight of the
robot body, the gripper and the shear obstacle. The same pattern can be seen in the difference
of current levels when the robot gripper slips and when the gripper slips with the shearable
obstacle.
The obtained results allow us to proceed to the development of algorithms of functioning
of the tactical and executive levels of the VMR control and further testing of the obtained
algorithms of the control system of the vertical displacement robot drives.
The article was prepared with the financial support of the grant of the President of Russia (project NSh-
1357.2022.6 "Models, methods and tools for obtaining and processing information on space objects in
a wide spectral range of electromagnetic waves").
References
1. R.D. Dethe, S.B. Jaju, International journal of engineering research and general science
2(3), 33-42 (2014)
2. Z. Zhao, G. Shirkoohi, 20th International Conference on Climbing and Walking Robots
and the Support Technologies for Mobile Machines, CLAWAR, October 2017 (2018).
https://www.doi.org/10.1142/9789813231047_0033
3. V. Kuznetsova, M. Barkova, A. Zhukov, I. Kartsan, 2nd International Scientific
Workshop Advances in Materials Science, AMS II 1049 (2021).
https://www.doi.org/10.4028/www.scientific.net/MSF.1049.85
4. N.R. Kolhalkar, S.M. Patil, International Journal of Engineering and Innovative
Technology 1(5), 227-229 (2012)
5. A. Das, U.S. Patkar, S. Jain, S. Majumber, D.N. Roy, S.K. Char, Proceedings of the 2015
Conference on Advances in Robotics, 1-7 (2015)
6. M.E. Barkova, V.O. Kuznetsova, A.O. Zhukov, I.N. Kartsan, Journal of Physics:
Conference Series 1889(4), 042086 (2021). https://www.doi.org/10.1088/1742-
6596/1889/4/042086
7. I.V. Kovalev, A.S. Andronov, I.N. Kartsan, M.V. Karaseva, IOP Conference Series:
Materials Science and Engineering 862(4), 042055 (2020).
https://www.doi.org/10.1088/1757- 899X/862/4/042055
8. S.V. Efremova, I.N. Kartsan, A.O. Zhukov, IOP Conference Series: Materials Science
and Engineering 1047(1), 012068 (2021). https://www.doi.org/10.1088/1757-
899X/1047/1/012068
9. M.G. Semenenko, I.V. Kniazeva, L.S. Beckel, V.N. Rutskiy, R.Y. Tsarev,
T.N. Yamskikh, I.N. Kartsan, IOP Conference Series: Materials Science and
Engineering 537(3), 032095 (2019). https://www.doi.org/10.1088/1757-
899X/537/3/032095
5
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
10. A. Zhukov, A. Zaverzaev, G. Sozinov, I. Kartsan, AIP Conference Proceedings 246722,
020025, (2021). https://www.doi.org/10.1063/5.0092533
11. I.N. Kartsan, S.V. Efremova, V.V. Khrapunova, M.I. Tolstopiatov, IOP Conference
Series: Materials Science and Engineering 450(2), 022015 (2018).
https://www.doi.org/10.1088/1757-899X/450/2/022015
12. N.V. Syrykh, V.G. Chashchukhin, Izvestia of the Russian Academy of Sciences. Theory
and control systems 5, 163-173 (2019).
https://www.doi.org/10.1134/S0002338819050135
13. V.G. Gradetsky, V.B. Veshnikov, S.V. Kalinichenko, L.N. Kravchuk, Controlled motion
of mobile robots on surfaces arbitrarily oriented in space (Moscow, Nauka, 2001)
14. I.N. Egorov, Position-force control of robotic and mechatronic devices (Izd-v. of
Vladimir State University, 2010)
15. V.V. Serebrenny, A.A. Boshlyakov, A.I. Ogorodnik, Technologies of additive
manufacturing 1(1), 24-35 (2019)
16. V.V. Serebrennyj, A.A. Boshlyakov, S.V. Kalinichenko, Ogorodnik, K.V. Konovalov,
Mekhatronika, Avtomatizatsiya, Upravlenie 22(11), 585-593 (2021).
https://www.doi.org/10.17587/mau.22.585-593
17. V.I. Tarasov, A.V. Kanygin, I.A. Breech, Science-intensive technologies 24(1), 48-54
(2023). https://www.doi.org/10.18127/j19998465-202301-05
6
E3S Web of Conferences 417, 05012 (2023) https://doi.org/10.1051/e3sconf/202341705012
GEOTECH-2023
... The calculated weight of the G counter counterweight partially balancing the elevator system turns out to be greater than the weight of the empty cabin G cab , but less than the cabin fully loaded with cargo G counter as shown in Figure 2b. [3,6,7]. Thus, balancing is often performed for an average statistical load, for example, choosing the weight of the counterweight G counter to balance the total weight of the cabin G cab and half of the maximum permissible load (G c )max. ...
Reducing the energy consumption of lifting machines
Article
Full-text available
  • May 2024
Modern lifting machines have the ability to recover braking energy and therefore have high energy efficiency. However, the control systems of such machines are of considerable complexity and require the use of storage devices if they work in closed energy supply systems. The paper presents methods for increasing the efficiency of lifting devices at an early stage of design by partial balancing in order to equalize the load during ascent and descent. The technical solutions that can improve the efficiency of modern lifts and shaft elevator systems are presented.
View
Innovation based remote monitoring for wearable diagnostics in real time mode
Conference Paper
Full-text available
  • Jun 2022
The paper presents the results of the development of a promising system for remote monitoring for wearable diagnostics of key human vital signs, which compares favorably with conventional solutions in that in addition to the traditional electrocardiogram and heart rate measurement, it also allows measuring body temperature, blood oxygen saturation, mobility and orientation in space, recording the fact of falling, breathing rate, etc. This opens the possibility to carry out a comprehensive assessment of the state of health of patients with complex diseases. It is shown that the system can be effectively used both for screening purposes and for long-term monitoring. The advantages of the system over standard Holter monitoring systems are presented.
View
Analysis and Assessment of the Effects of Corrosive Hydrogen Media on the Stress-Strain State of a Spherical Titanium Alloy Shell
Article
Full-text available
  • Jan 2022
We consider the creation of a mathematical model describing the effect of corrosive hydrogen environment on the stress state of a hollow spherical shell made of titanium alloy grade VT1-0, the load is evenly distributed throughout the shell. The solution of the problem in practice was carried out by two-step method of sequential perturbation of parameters using MatLab and Maple programs. To solve the system of solving differential equations the finite difference method was applied. The solution of the diffusion equation of the aggressive hydrogen medium has been considered and the obtained solution has been compared with the results of the classical theory which does not take into account the aggressive effect of the corrosive medium.
View
Management of processes of space debris capture and processing into fuel
Article
Full-text available
  • Apr 2021
The processes of space debris capture and processing into fuel are considered. The mentioned processes have a number of limitations on the choice of materials to be recycled (space debris) and on the creation of spacecraft for space debris utilization (hereinafter - space debris collector). Management of space debris capture and utilization processes is inseparably connected with pseudo-liquid fuel, received by the collector from space debris. Pseudo-liquid fuel is finely dispersed garbage in the environment of hydrogen (fuel) and oxygen (oxidizer). To control the processes of space debris capture and utilization into fuel it is necessary to determine the choice of materials of the spacecraft capture device and manufacturing of internal systems. Efficiency of space debris capturing and utilization into fuel management will be provided by fulfilling a number of fundamental requirements in addition to those of the work: orbital altitude of space debris collector is conditioned by space debris location in space (orbit altitude, inclination); space debris is captured only from certain materials and alloys (metallized space debris); space debris is captured by the network at the intersection of the target orbit at small angles; material and structure of the tether is selected based on maximum tension and absence of breaks.
View
An ordered ranking multi-attributive model for decision-making systems with attributes of control systems software
Article
Full-text available
  • Feb 2021
The authors present a compensation model for the general ranking of alternatives in their order of preference, considering the dependence of the attributes of software for spacecraft control systems. Among the discussed features is one that consists in the use of a set of target functions, which cannot be optimized simultaneously, due to their inherent incommensurability and target conflict.
View
Technical and economic feasibility of the on-board location system application for the aircraft and satellite communication system
Article
Full-text available
  • May 2020
The paper considers the joint application of the Iridium satellite communications system as well as the GLONASS and GPS satellite navigation systems that corresponds to the CNS/ATM concept. The originality of the proposed detection method is in constant communication between an object and a control center. The method can be applied to both manned and unmanned aircrafts. In any case, a control center can quickly respond to deviations of the trajectory of an object, or to an operation of accelerometers at critical overloads. The paper examines the advantages of introducing the Iridium satellite radio navigation system into the aviation sector to monitor aircrafts in both manned and unmanned aircrafts. Technical and economic advantages are given on the example of various search and rescue operations.
View
How to use neural network and web technologies in modeling complex technical systems
Article
Full-text available
  • Jun 2019
This paper discusses the problem of integrating modern methods of forecasting and modeling complex technical objects into the learning process. As an example, the problem of solving a system of ordinary differential equations is considered, which has significant practical application. In particular, solving a system of differential equations can be an essential part of patents. The neural network method to solve this problem by using Matlab simulation software and visual modeling tool Simulink is considered. Efficient cloud-based solution to ordinary differential equations is presented.
View
Choice of optimal multiversion software for a small satellite ground-based control and command complex
Article
Full-text available
  • Nov 2018
This paper discusses the criteria and restrictions, which arise during the solution of problems relevant to the synthesis of software for a ground-based control and command complex for small satellites. The authors suggest a number of models for forming multiversion software for this complex.
View
Design Principles of the Locomotion Mechanism of a Wall Climbing Robot
Conference Paper
Full-text available
  • Jul 2015
Most of the present wall-climbing robots are either wheel or tracked wheel based. They cannot negotiate bumps or corners in their path. Other present linkage driven wall climbers are over-actuated mechanisms. We propose a linkage driven underactuated wall climbing mechanism. The locomotion technique is based on the rowing principle of the boat. A comparison of different adhesion techniques is also narrated in this paper. The present work proposes a pneumatic suction based wall climbing robot for non destructive testing of tall structures. The design principle of a novel spring assisted locomotion mechanism is described in this paper.
View
Walking Robot for Moving on Vertical and Arbitrarily Oriented Surfaces
Article
  • Nov 2021
The article deals with the design of a walking robot with gripping devices that allow the robot to move on arbitrarily oriented surfaces in space. Such robots are relevant primarily for the inspection of various industrial structures. A model of a two-support robot with gripping devices that allow it to be attached to support surfaces with a small curvature, but arbitrarily oriented in space, is proposed. To ensure attachment to the support surfaces, the robot is designed with five degrees of freedom. An important criterion is the possibility of dexterous movement on surfaces. One of the degrees of freedom of the robot was made linear, which makes it easier to step over obstacles and allows you to implement simpler walking algorithms. When the robot is attached to the supporting surfaces by two gripping devices at once, the kinematic chain is closed. This can lead to an increase in forces and moments in the robot’s links. In this paper, it is applied to use two methods of controlling the drives of the links together – the implementation of impedance control by introducing feedback on the evaluation of the moment based on the motor currents and ensuring the pliability of the gripping devices due to its own elasticity. A mathematical simulation of the robot was carried out, which showed the possibility of reducing the forces in the robot links when attaching the robot to two support surfaces at the same time. The best results were achieved when controlling the current vector of a synchronous motor and using current signals to implement impedance control.
View
View