DOI: 10.17586/2226-1494-2017-17-1-187-190


CONTROL SYSTEM FOR TILTABLE PLATE WITH TWO DEGREES OF FREEDOM FOR RESEARCH OF DYNAMIC MANIPULATION PROBLEMS

D. Dobriborsci, N. A. Nikolaev , A. A. Didrents


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Article in Russian

For citation: Dobriborsci D., Nikolaev N.A., A Didrents.A. Control system for tiltable plate with two degrees of freedom for research of dynamic manipulation problems. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2017, vol. 17, no. 1, pp. 187–190. doi: 10.17586/2226-1494-2017-17-1-187-190

Abstract

The paper presents results of work on control system design for tiltable plate with two degrees of freedom. Designed robotic system includes technical vision system that provides an opportunity to get the position of the control object placed on the square plate. Two servomotors provide each tilting axis operation. Single-board computer transmits angle values and other design elements to the servomotors by USB interface from the workstation. The problem of the object stabilization in the given coordinates on the plate is solved.


Keywords: tiltable plate, parallel manipulator, dynamic manipulation, robotic system, technical vision system

Acknowledgements. The work was performed at the Control Systems and Informatics Department of ITMO University and was partially financially supported by the grant of the President of the Russian Federation (No.14.Y31.16.9281-НШ).

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