MULTIFLOWED SOFTWARE MOTION CONTROL TECHNOLOGY FOR A TWO-LINK MANIPULATOR WITH FOUR DEGREES OF FREEDOM

This paper describes a multiflowed software motion control technology for a two-link manipulator
with four degrees of freedom. The proposed technology uses a set of independent timers that allow
to realize independent control flows of program execution. This technology uses the developed
database structure to store the control program structure, which is a set of instructions, conditional
and unconditional transition operators, waiting commands with the possibility of connecting to
the PLC I/O ports via Modbus protocol. A characteristic feature of the proposed technology of
executing commands in the program is the concept of folders. Folders in this sense are a grouping
of commands that constitute a certain cyclic sequence of actions for the manipulator. Folders are
not a visual component, but the essence, uniting several commands, executed one after another,
in a database. An angular manipulator motion control program using visual components has
been developed. Testing of the developed program was carried out, which showed its performance
and reliability of the execution of commands given by the operator.