ЕКІ АЙНАЛМАЛЫ БАЙЛАНЫСЫ БАР ЖАЗЫҚ МАНИПУЛЯТОРДЫҢ ДИНАМИКАЛЫҚ ҚОЗҒАЛЫСЫН БАСҚАРУ ЖҮЙЕСІНІҢ МАТЕМАТИКАЛЫҚ МОДЕЛІН ОБЪЕКТІНІҢ ДИНАМИКАСЫ МЕН БҰЗЫЛЫСТАРЫН ӨТЕУ ӘДІСІМЕН ӘЗІРЛЕУ

Abstract

Robot manipulators are highly nonlinear, dynamically coupled and time-varying systems that are widely used in industry. An integral part of any robot is a control system for the position of its working tool. Such a system has high requirements to ensure the accuracy of the robot's operation in both static and dynamic modes. The equation of motion of a two-link robot is a nonlinear differential equation. This article presents the development of a mathematical model for controlling the dynamic movement of a two-link robot manipulator using an innovative method for compensating the dynamics of an object and disturbances. Mathematical modeling is carried out in three stages. The first stage consists in compiling the known equations of a two-link robot manipulator by the Lagrange equations method, the second stage is the representation of Lagrange equations in the state space, the third stage is the representation of Lagrange equations in the state space with state-dependent parameters. The results of the performed mathematical modeling are the basis for further computer modeling of the control system of a two-link robot manipulator, which is a nonlinear control object.