Control of Angular Position without Elastic Oscillations of Manipulator with Useful Load

Problem of manipulator motion control is considered. The manipulator consists of elastic beam and rigid body placed at the end of the beam. Purpose of control is to transfer the manipulator from the given initial angular position to the given final angular position without oscillations at the end of maneuver taking into account longitudal and bending deformations. General equations of manipulator rotation and motion equations of the beam with control of the rotation of a body on the one of its ends are deduced. Required control moments are constructed as power series with respect to small value, which is inversely proportional to Young module. Recurrent formulas are received for all terms of expansions.