Motional stabilization of the elastic manipulator

The problem of synthesizing the motional control of a manipulator is solved with account for the elastic deformations of its links. Since the elastic manipulator is often regarded as a high-order (finite-dimensional) dynamic system, the synthesis encounters a substantial deficit of system controls. To solve this problem, the viscosity (dissipativeness) of deformations of the manipulator links is taken into account by assuming that the energy of elastic deformations of the manipulator links is dissipated, which enables one to reduce the problem under study to the well-known problem of synthesizing the control laws for the manipulator, with absolutely rigid links. For the universal I control law that enables one to stabilize all feasible motions of the elastic manipulator, natural conditions are established.