Adaptive Force Control in Driven Equipment of Manipulator with Parallelogram Linkage

The paper proposes a method of adaptive electromechanical force compensating system synthesis for a articulated balanced manipulator of the ShBM-150M type with elastic driven equipment in the form of anthropomorphic arm. It provides a mathematical description of electromechanical system with a compensator. The author obtained analytic equations for determining parameters of adaptive control device during change cargo mass and stiffness of mechanical transmissions. The controllability of manipulator mechanical part without the use of electric drive and the application of adaptive force control system in the driven equipment with a synthesized compensator during change moved cargo mass from 20 to 160 kg were analyzed.