Dynamics of robot servo drives using technical vision

Abstract

Implementation of technical vision (TV) with modern microprocessor (MP) means in works is an urgent problem. There are numerous publications of domestic and foreign researchers on this topic. However, the dynamic characteristics of robot servos, in such studies, often remain insufficiently studied, although it is known that they have a great influence on the characteristics of control systems. The purpose of the study is to assess the relationship between the characteristics of electric drives (EP) with quality indicators and options for the technical implementation of control of electromechanical systems (EMC) of robots. The main task of the research is to identify, analyze and systematize factors that affect the EMC dynamics of robots with TK means. The obtained results should be taken into account in the synthesis of robot control systems.