Parallel-Serial Structure Manipulator Control Signals Dynamics and Synthesis

The article describes synthesis of a dynamic algorithm for generating control signals of executive motors ensuring the implementation of the required trajectories and laws of motion of the parallel structure manipulator working body. Analytical expressions for the control signals of drive electric motors are obtained. The algorithm is constructed using nonlinear equations of the manipulator mechanism dynamics and the characteristics of its drives. The proposed algorithm for calculating control forces is one of the algorithms of the compensating type. A numerical example of the implementation of the obtained control laws is given.

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