Control of the distributed-parameter multi-element manipulator

A method of manipulator control at the final stage of motion was developed using the PID controller. The distributed-parameter elastic systems have three main directions whose perturbations do not affect the other directions. This property enabled one to use an independent single-loop control along each direction. The distinction of the developed method of control lies in that the manipulators were modelled mathematically as a distributed-parameter framed structure. At that, the corresponding transfer functions were obtained as a series in the oscillatory elements. This series is a counterpart of the spectral Hilbert-Schmidt solution for the self-conjugate completely continuous operator.