SUBOPTIMAL ELECTRODRIVE CONTROL OF A FLEXIBLE MANIPULATOR

This paper evaluates the controlled plane motions of an elastic manipu lator with electrodrives. The dynamics of the rotary motions of the la st link of the manipulator is considered within the framework of an el astic beam model. Time-optimal control of a rigid link system is consi dered by taking into account electromagnetic processes in electrodrive s. Different rational control functions are investigated. These ration al control functions are implemented in the elastic link model. Evalua tion of the accuracy and amplitude of the residual vibration is perfor med. Methods of increasing the operational accuracy are considered.