Modelling of Demining Manipulator Optimal Functioning
https://doi.org/10.17587/mau.20.280-290
Abstract
The paper describes the modelling of a demining manipulator that contains a pneumatic drive, an infrared mine detector and a mine neutralizator. The infrared mine detector identifies the mine position in the scanning mode of the manipulator and gives a control signal to an input of a manipulator drive control unit for accurate positioning of the neutralizator above the detected mine. A problem of the optimal manipulator positioning in the sense of the control energy consumption minimization is solved. The feedback loop contains only one sensor to perform the optimal positioning of the third-order control object due to an observer application. Modelling results of the infrared detector mine searching and of the neutralizator positioning by means of a pneumatic manipulator are presented. A comparison of modelling and experimental results shows that modelling assumptions correspond enough to real process parameters.
About the Author
M. Yu. Rachkov
Moscow Politech
Russian Federation
Russian Federation
Corresponding author: Rachkov Mikhail Yu., D. Sc., Prof., Moscow Politech
Moscow, 107023
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Review
For citations:
Rachkov M.Yu. Modelling of Demining Manipulator Optimal Functioning. Mekhatronika, Avtomatizatsiya, Upravlenie. 2019;20(5):280-290. https://doi.org/10.17587/mau.20.280-290
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