Synthesizing an Optimal Algorithm for Moving a Mechanical System to the Given Position

The problem of moving a certain point of a mechanical system with an excessive number of degrees of freedom from the given initial position to the given final position is solved, i.e., the problems of positioning and determining control variables are of an optimization nature. The mechanical system is described by a nonlinear system of differential equations. The aim is to determine the patterns of controlling forces of jointly operating drives, the number of which is greater than the number of degrees of freedom of the mechanical system. The optimal program laws for moving the actuators are determined from the condition of minimum heat loss of the drive motors. The method to solve the problem and the results of mathematical simulation for a manipulator of a parallel-sequential structure with four degrees of freedom are considered.