A METHOD FOR CONTROLLING THE MOVEMENT OF THE EXECUTIVE BODY OF A MANIPULATOR WITH THREE DEGREES OF FREEDOM AS PART OF A CYBER-PHYSICAL SYSTEM

Abstract

Introduction. Contemporary methods of training specialists in the development and operation of cyber-physical systems involve the use of training stands of technological lines and production facilities that include manipulators in their equipment. The use of manipulators in the stands determines the relevance of developing appropriate control methods. This paper investigates a model of a manipulator designed to grab and move parts in a sorting factory. The manipulator movements are performed using 24 V DC reversible motors with a fixed speed. Given the design features of the factory and equipment, the manipulator cannot perform complex movements with several kinematic pairs at the same time. To solve this problem, a sequential approach to moving parts is used. The paper considers operations for the forward and reverse movement of parts in coordinate systems during operation at a sorting factory. The algorithms for the complete movement of parts and the requirements for the safe rotation of the manipulator's supporting structure are considered. The results of the study can be useful for the development of cyber-physical control systems for manipulators in industrial environments.