Method of High Speed Control of Movement of the 1-DoF Manipulator

A method has been developed for high-speed motion control of a 1-DoF manipulator, ensuring of exact implementation of technological operations on a conveyor, with taking into account restrictions on the input voltage of its electric drive. During performance of the technological operations there are situations when mass-inertial characteristics (parameters) of the manipulator vary within wide limits. This method also allows to take into account these parameter changes. The acceleration is provided by the operation of the manipulator electric drive in a pre-saturated state but in the linear zone of the power amplifier. The results of the performed simulation confirmed the high efficiency of the proposed method.