Coordinate-parametric control of time optimal manipulation robots

The problem of synthesizing time-optimal automatic control system (ACS) dealing with the executing mechanism of a robot body in the form of the second order linear object is considered taking into account the measurement inaccuracy of real position transducer. The purpose of synthesis is to make the level of the ACS positioning error, caused by this inaccuracy, less and introduce some additional parametric control channel is used as a corresponding means. The methods of appropriate ACS synthesis are presented. The ACS structure was designed and the comparative digital simulation showing the suggested approach effectiveness was performed.<
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