Abstract:
The results of mathematical modeling of an abstract maintenance process the main element of which is a controlled multilink manipulator are presented. The manipulator must automatically maintain the continuous operation of objects, depending on the purpose of the maintenance process. It is assumed that in the process of maintenance the dynamic characteristics of the manipulator depending on the weight of the load or tool could be transformed in some final moments of the time. In general, the description of the maintenance process of movable and fixed objects are brought and the question of control in a case when the motion of the manipulator at each service interval is described by linear differential equations with constant coefficients, as well as the motion of the objects are given.
