Abstract-In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals.
In this study the dynamic model of a space robot manipulator is constructed. The space robot manipulator as a three-degree-of-freedom manipulator on a movable base is represented. Functional performance of space robotic manipulator near the orbital space station is considered. It is also anticipated that the motion occurs in a weightless environment without affecting the dissipative forces. Based on this model of space robot manipulator the first problem of manipulator dynamics is solved. The problem is solved using the expansion pack Symbolic Math Toolbox of mathematical package Matlab.
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