Methodical Features of Acquisition of Independent Dynamic Equation of Relative Movement of One-Degree of Freedom Manipulator on Movable Foundation as Control Object

Abstract

Purpose Model problems, where dynamic conditions permit an analytical treatment and it is possible to reveal qualitative movement pattern, to analyze influence of control object parameters to its execution behaviour, are of substantial interest in the view of features of synthesis of control and making a Robot Central Nervous System (RCNS) for perspective robot systems. Results During the stated problem formulated in [1] a procedure of acquisition of independent dynamic equation of a plain articulate two-element mechanism relative motion, based on separation of generalized coordinates on cyclic and positional, is considered. Practical importance Received results have a method value in the view of research of the case being of applied interest of spatial motion of system of two solids connected using spatial mechanism with purposive variable configuration (manipulator).