Motion control of anthropomorphic robotic systems with many degrees of freedom based on principles of independent motion control in the direction of characteristic vectors of the linearized dynamic Lagrange equation and the anthropomorphic robotic system

摘要

The method of controlling the motion of anthropomorphic robotic systems with many degrees of freedom based on the principles of independent motion control in the direction of the characteristic vectors of the linearized dynamic Lagrange equation and the device for performing this control are characterized by the fact that, with long delays in the feedback control loop, the stability area of the control parameters is much greater, and therefore the possibility of stable regulation is possible for much higher latency. And also by the fact, that due to the absence of dynamic interaction between the movements in the direction of the characteristic vectors of the dynamic Lagrange equation even at relatively low parameters of the feedback controller, the movement of the mechanical system remains monotonous, smooth and predictable, as it is observed in human movement and is thus also suitable for interaction with it.