Rezultaty
the controlled motions of elastic manipulator with electrodrives have been investigated. Different rational control functions have been investigated. These rational control functions were implemented in an elastic link model. Evaluation of accuracy and amplitude of residual vibration was done;
a new approach to control non-linear dynamical systems governed by Lagrangian equations was developed. The approach is based on the decomposition of the system with many degrees of freedom into simple subsystems with one degree of freedom each;
based on the theory of disturbance rejection control and generalised technique for designing observers a new method has been presented for controlling elastic robot arm with rotary and prismatic joints. Using estimates of exosystem the unknown inputs can be compensated. The simulation example shows the success of the method.
control of elastic manipulators by means of electric actuators must take into account complicated constraints imposed on the electric voltages, torques, and angular velocities of the rotors. In the terms of the control theory, these constraints include control, state, and mixed constraints. For the simplified model of the elastic manipulator, the control under these real constraints was obtained and analysed;
the suboptimal control of elastic robots can be constructed on the basis of the smoothed rigid mode optimal control. In this study the relationship between the amplitude of residual vibrations and the smoothness of the control function was derived and the rational suboptimal control developed.
The project proves that a co-operative project between universities from different countries can produce useful results both in fundamental research and in implemented methods and tools.
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