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SIMULATOR automatic systems robust control periodic regimes articulated robotic arm
SIMULATOR automatic systems robust control periodic regimes articulated robotic arm
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机译：仿真器自动系统鲁棒控制周期性铰接机械臂
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摘要
the utility model relates to the technical cybernetics, and can be used in the design of automatic control systems u0438u0441u043fu043eu043bu043d cyclical regimes u0438u0442u0435u043bu044cu043du044bu0445 u043cu0430u043du0438u043fu0443u043bu044fu0446u0438u043eu043du043du044bu0445 robots consisting of two links.the technical challenge to which aims of the utility model is to provide u0434u0438u0441u0441u0438u043fu0430u0442u0438u0432u043du043eu0439 sustainability and improve the quality of u0444u0443u043du043au0446u0438u043eu043du0438u0440 u043eu0432u0430u043du0438u044f periodic regimes of a two-level management system u043cu0430u043du0438u043fu0443u043bu044fu0446u0438u043eu043du043du043eu0433u043e robot in the presence of u043du0435u043fu0435u0440u0438u043eu0434u0438u0447u0435u0441u043au043eu0439 external loads.this purpose is achieved by the fact that in a system with u043du0435u043bu0438u043du0435u0439u043du043e - u043du0435u0441u0442u0430u0446u0438u043eu043du0430u0440u043du044bu0439 object management modules providing impacts, and u043bu043eu043au0430u043bu044cu043d s pi regulators, instead of local model contours are combined u0440u043eu0431u0430u0441u0442u043du044bu0435 regulators.the system additionally introduced local observers of the first, second, third, fourth, fifth, sixth u043eu0441u0446u0438u043bu043bu043eu0433u0440u0430u0444u044b, plotter, first and the second set of blocks, the first, second, third and fourth blocks of summation.
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