On rate control of n-link manipulator robot

We consider the control circuit for n-link robot-manipulator constructed on proportional-differential regulator. We find out the values of control parameters and the restrictions on the noises that ensure the transition of the loaded claw into the θ-neighbourhood of the equilibrium state in time T with given reliability δ>0. Here θ, T are given sufficiently small numbers defined by technical peculiarity of robot itself and machinery served by it. The simulations of the motion of robot hand for two-link robot-manipulators are presented.