Development and commercial introduction of electromechanical force compensation control systems in articulated balanced manipulator actuators

As the intelligent lifting manipulators allowing for the load being moved by workers' directly applied have been created and are now widely used abroad, the task of modernizing Russian manipulators becomes quite relevant. The manipulator control system is based on the load movement velocity control principle and has several operational disadvantages. Moving loads with direct effort can be implemented in the Russian manipulators using force a compensation control system. Such system functions based on the principle of compensating for the gravity and other forces, obstructing the load movement, with electric motors as well as of creating and maintaining stable efforts, equal to the load weight, at the points of its suspension. In this case, the load is moved by the external forces. The paper proves the applicability of force compensation system. It presents the he necessary equipment for the Russian ShBM-150M retrofit manipulator. The technical characteristics and functional capabilities of the first Russian SHBM-150MI manipulator with a force compensation control system were determined based on experiment.