Аnnotation: The industrial robots using positioning the stops to reduce dynamic loads and reduce the dynamic error component used special damping devices. However, when changing the speeds of the masses and working organs (PO) in a wide range such devices require the adjustment of its parameters. The use of shock absorbers as elastic thrusts allows for the maximum speed of the PO and the reduction of dynamic loads at the time of hitting the fence.

Necessary characteristics depreciation quality can be obtained as a result of the construction of systems with variable structure, which are due to discontinuous control essentially nonlinear systems. Operation of the system variable structure provides instant removal and restoration, using the logic switching elements, relations between its individual links and the use of local mineral properties of these units [1]. In the energy aspect of the amortization of the system of variable structure are more advantageous than the active vibration isolation system as well as the energy they expended only on the parameters of control.

Keywords: control, pneumatic shock absorber movement.

Аnnotation: One approach to solving the problem of optimal control of the movement of the handling robot for a given geometric path involves partitioning the problem into two stages. The first is carried out real-time formation of optimal trajectories specified criteria for each degree of mobility as a function of time, provide a working body of the manipulator motion for a given geometric path with optimum speed. The second stage takes place in real time tracking formed in the first phase trajectories. The following describes the method of formation of the optimal trajectories with dependent constraints manipulator state in the emerging forces and moments, and depending on the configuration of the manipulator restrictions on the movement speed in degrees of mobility. In contrast to the known algorithms proposed approach does not require the submission of a given geometric path in parametric form, and allows her to specify the sequence of points.

Keywords: trajectory, manipulator , movement.