System of Automatic Control by Manipulator of Type SCARA for Fulfillment of the Force Working Activities on the Lateral Surfaces of Workpiece of Arbitrary Form

The problem of synthesis of system of simultaneous automatic control by speed of motion of the working tool and effort of its pressing to a processed surface of workpiece of any form is considered. The executed researches have shown, that at the expense of use of a new contour of the control and the additional regulators completely compensating effects of influenses between all degrees of mobility of the multilink manipulator, it is possible precisely and fast carry out all force operations. Besides, the new scheme of control by the manipulator at the expense of correct definition of a direction of motion of the working tool concerning a processed surface allows to delete any layer of a cutting material qualitatively.