Control of manipulators by means of discrete regulators

This paper considers the aspects of forming a discrete approximation of the mathematical model of open active mechanisms. Discretisation of the model of a manipulation system with respect to subsystems has been performed as well as the discretisation of mechanical part of the system. Since the discrete approximation holds only for a range of low values of the sampling period, a sampled-data dynwnic model of the manipulator has been formed Aspects of the synthesis of discrete linear regulators are presented and illustrated by an example of a six-degree-of-freedom manipulator.