Optimal parameter adjustment of telerobot servodrive

An approach to an organization of a telerobotic system servodrive with variable parameters is developed. It is based on the use of accuracy and fast-operation criteria to design the remotely controlled manipulator servodrive because an altering of the values of the manipulator servodrive parameters influences the telerobotic system quality. Therefore, an additional parameter control channel was introduced into the system. A method for synthesis of such system algorithms is developed. It permits one to design robot servosystems that minimize the dynamic mutual influence of one on another. The approach results in the organization of a highly effective servosystem with a sufficiently simple control algorithm. By means of computer simulation an efficiency increase of this system is shown.