Application of Modem Software in Problem of Computer Modeling of Dynamics of Manipulators With Geometric Constraints

The problem of stabilizing the motions of mechatronic systems with geometric constraints is investigated by strict methods of analytical mechanics. Consideration is carried out taking into account the dynamics of electric drives. The NN Krasovskii's method for determining stabilizing control from solving a linear-quadratic problemby is used. The values of the coefficients can be found from the algebraic equations obtained from the Lyapunov-Bellman equation. The method of numerical determination of stabilizing control coefficients due to the transition from algebraic equations to differential equations was justified by Repin Yu.M. and Tretyakov V.E. The original software products developed by the author on this basis were not brought to the user level, and their use required sufficiently high qualification. In this paper, we apply the [x, l, g] = care (a, b, q, r) module of the Matlab software package, which calculates the solution of the matrix algebraic Riccati equation, to determine the control coefficients. With two variants of the control application, numerical modeling was performed in the problem of stabilizing the stationary motion of a manipulator with a nonlinear geometric constraint. A system for estimating the phase state is constructed when measuring only one angular velocity.