Mathematical Modeling of Copying Control by a Robotic Unit with a Linear Electric Drive with an Elastic Link

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This article is about developing the mathematical model and studying the copying control system of a robotic unit with a linear electric drive with an elastic link. Particular emphasis is placed on modeling the nonlinear electric drive and measurement system devices. A comprehensive criterion is elaborated for evaluating the quality indicators of the control system. Opportunities for minimizing the influence of nonlinearities on the stability of the copying control system by optimization of parameters are studied.