Development of modeling methods for robotic systems with mechanical compliance and deficit / excess of control actions and algorithms for controlling the position and elastic properties of the system

The aim of the project is to develop a mathematical apparatus for modeling and controlling mechanical systems with mechanical compliance, systems with deficit / redundancy of control actions. Most models of mechanical systems, such as robotic arms, are built on the assumption that individual bonds or elements are rigid. However, the latest trends in robotics related to lightweight structures, including by increasing flexibility, using new types of drives with controlled or passive flexibility, using new mechanical elements and structures (such as flexible cables), require taking into account additional degrees of freedom arising from the cause of compliance of various elements. In this case, the problem arises of controlling a nonlinear system with a deficit of control actions, because the number of degrees of freedom of the system becomes more than the number of independent controls. This issue is relevant for today's development of robotics. Solving problems of this class will expand the range of applications of robotic systems and maximize the hidden properties of a mechanical system to achieve positioning accuracy, energy efficiency, static and dynamic performance of the system. In addition, the construction of models with mechanical compliance requires the development of experimental methods and algorithms for the identification of kinematic, static and dynamic parameters.