Abstract
This paper describes the construction, research and comparative analysis of adaptive control systems of elastic oscillations suppression of electric drive transmissions of joints and the unleashing of the interrelated dynamics of the degrees-of-freedom of manipulation arms robots under conditions of nonlinearity and uncertainty of their mathematical description with the aim of improving the accuracy and speed of spatial trajectory movement of the robot flange. The strategy of solving the two mentioned interrelated problems is based on the decomposition of the nonlinear mathematical model of the manipulation arm onto the rigid and elastic subsystems, which allows to introduce unification of the construction of combined (composite) adaptive electromechanical systems, using the accurate method of the calculated moment (Li-Slotine) and the approximate method of majorizing functions.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
