Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment
The control laws as well as the functional charts and the block diagrams of the industrial robot control circuits intended for realizing those laws are created on the basis of meeting the requirements of fast action and the present precision or the optimization conditions for the respective criteria of motion in the course of the free transfer of the objects being manipulated. The overwhelming majority of works dedicated to the analysis of the geometry, the kinematics and the dynamics of robot motion also refers to the tasks of free transfer mechanics.
KeywordsGeneralize Force Component Force Elastic Element Industrial Robot External Object
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