Simulation and Control Synthesis of Manipulator in Assembling Technical Parts

The problem of simulation and synthesis of manipulator control in the phase of joining the structural elements and subassemblies is considered in this paper. Special attention has been devoted to the complete dynamic analysis of the ensemble: manipulator – working object and external forces in the process of assembling the elements. Results of the insertion process simulation with and without feedback with respect to the forces in contact points between the working object and environment are presented.