Specific Modes of Formation of Dynamic States for Robotic Systems and their Control Systems, Taking into Account the Connectivity of Movements in Two Coordinates

摘要

The article focuses on possibilities of dynamic damping of oscillations in mechanical systems with two degrees of freedom with simultaneous action of two forces. It investigates the features of the dynamic interactions of the system elements in terms of functional relationships between the existing external influences. It is shown that in cases where it is possible to vary the coefficients of the linear relationship between external influences, special dynamic damping modes can be created for which the necessary conditions for zeroing the oscillation amplitude in each coordinate are simultaneously satisfied. The authors determine restrictions on the form of external influences, which ensure the implementation of the modes of simultaneous dynamic damping of oscillations in a linear mechanical oscillatory system with two degrees of freedom. This method has a direct impact on the safety of robotic and technological complexes.