Time-Suboptimal Control Of A Two-Link Manipulator Motion

We consider the problem of the construction of a time-suboptimal control modes of the motion of a flat twolink manipulator with arbitrary geometric and inertial characteristics. It is required to transfer the manipulator from a given initial configuration to a given final configuration under the conditions that at the beginning and at the end of the process the system is at rest, and the moduli of the generalized control forces do not exceed fixed values. The controls are sought in the class of relay modes with a minimum (equal to three) total number of switches, sufficient to satisfy the boundary conditions. A computational algorithm is proposed that allows, from the initial and final positions, to determine the number of control switching points, the order of alternation of their signs, the switching moments and the time for bringing the manipulator to the required rest position.