SYNTHESIS OF ADAPTIVE CONTROL SYSTEMS FOR ELECTRIC SERVO ACTUATORS OF MANIPULATORS

摘要

A method of the synthesis of electric servo actuator control systems for multilink manipulators with four degrees of freedom is presented. This method allows to increase sufficiently the dynamic accuracy of gripper movement along complex spatial trajectories at the expense of complete elimination of mutual influence between all DOF. Also the results of modelling the manipulator work are presented. They confirm the efficiency of the method proposed. Realization of synthesised control systems does not have large difficulties. These control systems can be realized with the help of a serial microprocessors.