Problems of optimizing of structures and laws of control of the motion of electromechanical manipulators

Journal article, 1987

A number of problems of optimizing the structural parameters and control laws aimed at minimizing the manipulator mass, the energy ex­penditures, and the maximum power of the electric motors, are formu­lated and solved within the framework of a mathematical model of an electromechanical manipulator that takes into account the distributed elasticity of an extended link. A formalization method is developed and an algorithm for solving the problem of the mathematical design of an optimal manipulator is proposed. The effect of the values of the moment of the electromagnetic forces at the initial and final instants of the control process on the kinematic and dynamic characteristics of the controlled motions of an elastic electromechanical manipulator is investigated.