Cascade Design of a Manipulator Control System with Consideration for Dynamics of Electric Drives

A methodological approach is suggested to cascade design (synthesis) of a control system of a robotic manipulator operating under the conditions of uncertainty and the action of external disturbances with due regard for the dynamics of direct-current drives. To solve the problem of tracking of prescribed trajectories, suggestion is made of the algorithmic two-level decomposition with the separation of the initial problem of control synthesis into independently solvable subproblems of a smaller dimension: synthesis of control actions in a mechanical subsystem and synthesis of control actions in actuators with the further subdivision of the problems of synthesis in each of subsystems into elementary subproblems. A problem is solved for the security of invariance to disturbances with the aid of the methods involving the systems with high gains and discontinuous controls and the composite control. Decomposition procedures are evolved of the synthesis of observers on the basis of measurements of positions of a manipulator and armature currents of electric drives.