ABSTRAKT

Based on common approach we formulate the problem of dynamic and kinematic control for spatial movement of an elastic multi-link robot-manipulator of space basing with executing mechanism and effector of joint-rod structure. Considering distributed elastic properties and inertia of manipulator links is based on Euler-Bernoulli model of a rod with assumption that each rod element is in a state of complex movement. We discuss specific difficulties of analysis of solutions of obtained essentially nonlinear system of resolving equations of hybrid type, which contain ordinary and partial derivatives with respect to time and spatial variables. Numerical method for solving this system is suggested. The comparison of obtained results with investigation data for dynamic characters of rigid space manipulator with equivalent geometrical and inertial properties is done.