ALGORITHMS FOR ACCELERATION-BASED CONTROL OF THE MOTION OF MECHANICAL SYSTEMS

Ideas for the synthesis of automatic systems on the basis of acceleration control algorithms are developed. Methodologies for determining the structure of the control algorithms and for calculating their parameters from the condition of attaining the specified characteristics of the designed systems are developed. Schemas of algorithms the realization of which does not require the measurement of the second derivatives of the controlled coordinates are proposed. The presented results can be used directly for developing the algorithmic and software support for systems for the automatic control of the motion of manipulator robots, as well as for various-designation effector mechanisms.