On Motion Control of Mechanical Systems with an Excessive Number of Control Actions

Аннотация

In this paper, we consider the features of controlling mechanical systems in the case the number of drives exceeds the number of degrees of freedom. The problems of controlling forces for the implementation of a driving mode that ensures optimality according to a given criterion and controlling forces for a given movement mode and functional relationship between them are formulated. The solution methods and simulation results of the problems are given.