Suboptimal control of an electromechanical robot with elastic link

This paper evaluates the controlled plane motions of elastic manipulator with electrodrives. The dynamics of rotary motions of the last link of manipulator is considered within the framework of elastic beam model. Time-optimal control of rigid link system is considered taking into account electromagnetic processes in electrodrives. Different rational control functions are investigated. These rational control functions are implemented in elastic link model. Evaluation of accuracy and amplitude of residual vibration is done. Methods of increase of operational accuracy are considered.