СПОСОБ УПРАВЛЕНИЯ МАНИПУЛЯТОРОМ КАК СИСТЕМОЙ С РАСПРЕДЕЛЕННЫМИ ПАРАМЕТРАМИ НА ЗАКЛЮЧИТЕЛЬНОМ ЭТАПЕ ДВИЖЕНИЯ

摘要

FIELD: controls for manipulators. ^ SUBSTANCE: method comprises control of the manipulator in accordance with the universal control law as a system of solid bodies to set the end link in a given position. The universal control system is additionally provided with the control insert that allows for distributing parameters of the system in the final stage of motion after the stop of control of the system as a system of solid bodies. The microprocessor of the insert is provided with the algorithm of construction of transmission function depending on the manipulator configuration. ^ EFFECT: enhanced precision of manipulating. ^ 5 dwg