System of Automated Design of Control Mechanism for Manipulators Having High Dynamic Accuracy

The computer-aided automated design (CAD) system with some new original methods of synthesis of adaptive control system and formulated regulations for choosing these methods in dependence on the features and requirements to the manipulator to be designed are considered in this paper. The peculiarity is that with the help of CAD system it is possible to fast choose one method or many methods of designing and to synthesize regulators, ensuring the given dynamic accuracy of control at a given velocity and trajectory of manipulators movement by using the simplest ones with the aim to put into practice arrangements or algorithms of control. The results of the usage of the system developed confirmed its high effectiveness in designing arbitrary manipulation systems.