TY - JOUR AU - Ashchepkova, Natalya Sergeevna PY - 2019/12/30 Y2 - 2024/03/28 TI - STABILITY ANALYSIS OF SOFTWARE MANIPULATOR MOVEMENTS USING MATHCAD JF - Journal of Rocket-Space Technology JA - Rocket-Sp. Tech. VL - 27 IS - 4 SE - Articles DO - 10.15421/451908 UR - http://rocketspace.dp.ua/index.php/rst/article/view/10 SP - 52-57 AB - Abstract. The method of the stability analysis of the manipulator program movements with use of Mathcad applied programs package is offered. On the basis of the manipulator’s kinematic scheme, the matrices of homogeneous transformations of Denavit Hartenberg are formed and a mathematical model of the extended control object is drawn up. An outline of an extended object control system consisting of a manipulator and an actuator is presented. For example, the linear equations of the manipulator, actuators, meter and controller are considered. The task of synthesizing the manipulator control algorithm is to determine the coefficients of the matrix transfer function of the controller that satisfy the conditions of stability and quality of transients. Mathematical modeling of manipulator programmatic movements was performed using the Matchad application package. The analysis of simulation results allows us to evaluate: manipulator workspace, control system performance, grip positioning accuracy, dependence of grip positioning error on the nature of load and the law of motion. A change in the dynamic characteristics of an extended control object causes a change in the controllability of systems, for the considered example rang Q = 2, i.e. the system is fully controllable.This method can be used to analyze the manipulation of the manipulator at the design stage; allows to determine the influence of design, kinematic and dynamic parameters on the manipulation of the manipulator and perform mathematical modeling of the manipulator motion. Calculation examples are given that confirm the expediency and effectiveness of using the Mathcad application software package to solve this type of problem. ER -