Mathematical and Computer Modeling of a New Type of Two-Link Manipulator

For a new type of two-link manipulator with two nonlinear geometric constraints, a mathematical model of dynamics is developed in the form of vector-matrix equations M.F. Shulgin. The consideration as carried out taking into account transients in electric drives - DC collector motors with independent excitation. The results are used to solve the problem of stabilization of a given position of a grip of a manipulator.