Алгоритмы анализа и предотвращения коллизий при движении трех планарных позиционеров на одном статоре

Abstract

The motion program building approach the goal of which is collateral control of several actuators bringing the affix the desired dynamical and accuracy properties, should be implemented in the way to avoid actuators collisions. The algorithm which enables this is described in the paper. It is based on a geometrical representation of actuators movement and takes into consideration the priority system which is also dynamically built to furnish the system the maximal productivity.