The paper deals with computer simulation and synthesis of learning trajectory-tracking robot control based on the explicit form dynamic equations. Robots with inaccurate inertia parameters are considered. Two learning operators are proposed. The simplified one is a scalar function identical to the minimal eigenvalue of the inertial matrix of the dynamic equations. The complicated one is the inertial matrix itself. The learning operators are the basis of two learning-control laws, both with a feedback controller attached. For comparison of the results, a computer model of a virtual (test) robot with precise inertia parameters is assumed. The convergence of the learning procedure for both control laws proposed is examined by computer dynamics simulation of the resulting trajectory-tracking motion of the virtual robot. In spite of significant initial trajectory-tracking errors, good convergence of the learning procedures is achieved. The results are promising when the learning operator is in compliance with the robot inertial matrix.

This paper represents the development of a prototype robotic system for automatic bone drilling in orthopaedic surgery. A new design of the mechanical structure is proposed, answering the surgical requirements for the robot dimensions and weight to be as small as possible. The new structure design is based on idea of parallelism of the axis of the linear actuator and the axis of the rotary one. The control system is improved by using a new micro-controller. A new type of linear drive and a new force sensor (load cell) are built in, so that the quality characteristics of the “Orthopaedic bone Drilling Robot” (ODRO) are not only the same as previous its two versions, but becomes better. An experimental setup is arranged and experiments are executed to test and to verify the robot quality features and functional capabilities.

The present paper discusses the problems of planning and optimization of maneuver (reorientation) strategies of large-space flexible structures as long booms and tethered satellites subject to conditions for minimization of deviations and vibrations. An approach based on the multibody system methodology for dynamics simulation and forward analysis is proposed. The optimization problem is defined as nonlinear programming problem. Iterative procedure based on directional derivatives and consequential dynamic analysis is applied. Polynomial approximation of the input motion is used, its coefficient being changed using optimization techniques. The principle for minimization of the total energy of the deformable system is applied in an algorithm for planning of controlled motion and computation of driving forces of the actuators. Admissible velocities of the maneuvers are estimated. The process of exaggeration of high order vibrations is analyzed. Examples of maneuver implementation of extremely flexible tethered satellite and suppression of vibrations are presented.

Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, about one million people only in Europe need such an operation every year, where bone implants are inserted. Almost always, the drilling is performed handily, which cannot avoid the subjective factor influence. The question of subjective factor reduction has its answer - automatic bone drilling. The specific features and problems of orthopaedic drilling manipulation are considered in this work. The automatic drilling is presented according the possibilities of robotized system Orthopaedic Drilling Robot (ODRO) for assuring the manipulation accuracy, precision, reliability and safety.