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Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimir: 1064-2315
ISSN En Línea: 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


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.


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  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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