THE CONTROL AND OPTIMIZATION OF MOTIONS OF THE MANIPULATING ROBOTS WITH THE ABSOLUTELY HARD AND ELASTIC LIKS

The design model of the multilink electromechanical manipulator has been built, and the algorithm of the optimal in speed servicing of the conveyor operation by the manipulator has been offered. The algorithm of the optimum and stable control of the manipulator motion according to the assigned program has been developed. The methods of the experimental investigation of the elastic characteristics of the industrial robots have been developed, and the influence of the elastic properties of the construction on its dynamics has been studied. The algorithm of the optimum control by the elastic manipulators motion, and the algorithm of control with the adaptive robot have been built with the incomplete information about the target point (object) position. The obtained results, the validity of which is ensured by the justified using of the mathematical methods of mechanics, the theory of control, and the behaviour of the required experiments, insert a significant contribution in the development of the theoretical and applied bases of the mechanics and control by the robototechnical systems control.Available from VNTIC / VNTIC - Scientific & Technical Information Centre of RussiaSIGLERURussian Federatio