Program Constraints and Ensuring Stability of Movement of the Electromechanical Manipulator

For the theoretical study of the dynamics of manipulation robots, define design parameters and control laws, you must have a current mechanical models that accurately describe the properties of real robots. The choice of the computational model in each case is determined by the kinematic scheme of the manipulator, mechanical properties (inertial, elastic, dissipative, and the like) parts and assemblies, type and characteristics of the drives, as well as the required accuracy of the calculation. The objective of the control is to ensure the motion of the mechanical system under some requirements that make up its program. Program motion of the system can be performed by the application to the system of control of forces, the system settings change in the process, building of special control devices (controllers) or a combination of these. The original objectives of the control theory are inverse problems of classical dynamics. From the mathematical point of view, calculation model manipulation robot is a system of differential equations. This model may include equations describing the phenomena non-mechanical nature, for example, electrical processes in the circuits of the motors of the actuators. In this article the author examines the issues of ensuring conditions of the asymptotic stability software movement mechanical and electromechanical systems with holonomic and nonholonomic constraints. For example, the three-tier model controllable electromechanical manipulator conditions of the asymptotic stability of a given movement. The described approaches to ensuring the asymptotic stability of electromechanical systems can be used in the study of stability of motion proprietary mechanical systems, mechanics of controlled motion in the solution of management tasks manipulators, transport and space systems.

dynamics, manipulating systems, holonomic and nonholonomic constraints, control, asymptotic stability