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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Print: 1064-2315
ISSN Online: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v30.i4-5.10
pages 1-14

Control Problems of a Manipulator

Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine

ABSTRACT

A manipulator is considered as a control system of rigid bodies. Problems of parameterization of an open-loop trajectory and synthesis of a stabilization system are studied. The proposed procedure of parameterization allows us to use the well-known algorithms for the choice of the speed of motion of a manipulator with regard to potentialities of actuators. The synthesis of the stabilization system is carried out by using a Lyapunov function. An example of synthesis of an adaptive control algorithm of a manipulator is considered.

REFERENCES

  1. Fu, K., Gonzales, R., and Lee, K., Robotekhnika (Robotics).

  2. Ham, W., Adaptive Control Based on Explicit Model of Robot Nanipulator.

  3. Kil'chevskii, N. A., Remizova, N. D., and Kil'chevskaya, E. N., Osnovy teoreticheskoi mekhaniki (Foundations of Theoretical Mechanics).

  4. Shin, K. G. and Mckay, N. D., A Dynamic Programming Approach to Trajectory Planning of Robotic Manipulators.

  5. Shin, K. G. and Mckay, N. D., Selection of Near-Minimum Time Geometric Paths for Robotic Manipulators.

  6. Barbashin, E. A., Funktsii Lyapunova (Lyapunov Functions).

  7. Voevodin, V. V. and Kuznetsov, Yu. A., Matritsy i vychisleniya (Matrices and Calculations).


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