Stability of motions of the manipulator robot taking into account the weak dynamics of control system components

The high-performance control of multiple-link manipulators is possible with relay laws of control based, for example, on the principle of decomposition. The present publication proves that the same goal can be attained if the nonidealities of different components of the manipulator control system-such as lour inertia of actuators, delays in transformers, errors of sensors, etc.-are taken into consideration. A general formal admissibility criterion for the nonidealities of manipulator control systems is established. It turns out that only two control outputs of the manipulator control system must be generated relatively quickly-in particular, these can Be its maximal and minimal control actions. This criterion seems relatively weak because it requires no stability of other control system outputs and, thus, allows one to relax the engineering requirements on the quality of control system components. In particular, the drive characteristics need not be linear, the electromechanical transmissions and transformers can have delays, hysteresis, plays, etc.