Impulse control of a two-link manipulation robot

A nonlinear problem of controlling the movements of a two-link manipulation robot is considered. The free mechanical system has two first integrals in involution. Methods of classical mechanics are used for analytical integration of the system of nonlinear differential equations. A trajectory connecting the initial and final positions of the two-link manipulation robot in the configuration space is found. Impulse controls at the initial moment of time impart the necessary energy to the robot to enter this trajectory. Impulse controls are also used to damp the speeds of the robot at the end position. In a computer simulation of the proposed procedure for moving the robot, generalized impulse controls are approximated by rectangular impulses.