Finding impulse control for multi-link manipulation robots

The mechanical model of a manipulative robot consists of a finite set of absolutely rigid bodies, the connections of which are described by ideal stationary geometric connections. Force interactions in the system are determined by potential and controlling forces. The nonlinear problem of controlling the movements of a manipulation robot is considered. Impulse controls at the initial moment of time provide the necessary energy to the robot to enter the trajectory connecting its initial and final positions in the configuration space. Impulse controls are also used to dampen the robot's speeds in the final position. When moving along the trajectory, the controls are turned off. To find the trajectory and the time of movement along the trajectory, the Jacobi theorem for the canonical system of differential equations is used. The energy required to transfer the manipulating robot from the initial equilibrium position to the final equilibrium position is calculated. The problem of parametric optimization of robot movements is considered.