New control concept of anthropomorphic manipulators

Abstract

The control of active articulated mechanisms involves the construction of trajectories and corresponding forces (torques). Two procedures for developing mathematical models of manipulator dynamics are explored. The control task can be formulated as follows: define the dynamic control parameters of the basic manipulator configuration with three degrees of freedom, which should perform movements at N points of the working space. The task can be solved by forming programmed coordinated motion which have to realize the adopted tip trajectory.