This article focuses on the development of a mathematical control model for a mechatronic module displaying 3D graphics based on specified coordinates and position. The paper examines the transformation of trajectory coordinates from a surface coordinate system to the reference coordinate system of the mechatronic module, as well as accounting for possible angular displacements (misalignments) in orientation. Furthermore, when working with an object in mechatronic modules displaying 3D graphics, a method for constructing actuator motion trajectories is proposed. This method divides the surface into elementary sections and develops mathematical models for them using equations for coupling between coordinate systems. When generating actuator motion trajectories, an algorithm for bypassing restricted areas is developed, based on optimization and motion minimization criteria, using a tree-like structure to determine the optimal sequence of movements. To ensure stable force interaction between the actuator and the surface, a two-level structural-parametric force control method is developed, taking into account the difference between actual and specified force values. The simulation results, based on the optimization and minimization criteria of movements, showed that the proposed mechatronic module control algorithm ensures increased positioning accuracy, reduced computational costs, and stable maintenance of specified pressing forces.
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DOI: https://doi.org/10.51346/tstu-01.21.2-77-0127