Effect of speed limits, acceleration and jerk on the accuracy of the control system of industrial robots
Developed simulation Simulink -model of industrial robot modular construction of three circuits control system coordinates. We consider the cases of the system hopping signal to move the robot and signals formed in time with the limitations on speed, acceleration, and jerk. Required accuracy of motion tasks accomplished by selecting optimal integration step, or the introduction of variable integration step, in which the front of the pulse breakthrough coincides with the integration step.