Modelling, simulation and optimisation in Robotics

In today's technology, when there is an avalanche of increasingly sophisticated, more electronic and mechatronic systems, a very important thing for the intelligent control of some physical quantities, which can be: heat, vibrations, forces, moments of friction, is intelligent measurement and control systems. These systems are made by combining computerized, on-line control with various intelligent materials, whose physical properties change depending on the various external physical quantities. In the technique of dynamic behavior optimization, a special role is played by the complex auxiliary components with spring, damper type elements, which are inserted into the structure of industrial robots, RI. Vibration isolators and shock absorbers are used in common to reduce the vibrations of machines and installations. Isolating elements are usually passive and are generally designed to reduce vibrations with unwanted frequencies. Often, in many applications, the excitation frequency varies over a wide range, which is why it is necessary to adjust the damping during system operation.