Electromechanical force compensation systems of lifting-transport manipulators

The paper deals with hoist transport systems which require human contact with the movable object during their operation. The manipulator structures and their specifications are analyzed. The requirements to the electromechanical system of lifting-transport manipulators are articulated. Given the limitations of the existing control systems, a new approach is proposed to building electric drive control systems of lifting-transport manipulators. Using the methods of optimal control, the synthesis of optimal force control in the electromechanical system with electric drive acceleration feedback was performed. Using the mathematical model approach, manipulator MP-10-based studies were performed which confirmed the advantages of the proposed structure of the lifting-transport manipulator control system; this structure will allow improving the performance of MP-100 manipulator.