ライブラリ登録: Guest
Begell Digital Portal Begellデジタルライブラリー 電子書籍 ジャーナル 参考文献と会報 リサーチ集
Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN 印刷: 1064-2315
ISSN オンライン: 2163-9337

巻:
巻 51, 2019 巻 50, 2018 巻 49, 2017 巻 48, 2016 巻 47, 2015 巻 46, 2014 巻 45, 2013 巻 44, 2012 巻 43, 2011 巻 42, 2010 巻 41, 2009 巻 40, 2008 巻 39, 2007 巻 38, 2006 巻 37, 2005 巻 36, 2004 巻 35, 2003 巻 34, 2002 巻 33, 2001 巻 32, 2000 巻 31, 1999 巻 30, 1998 巻 29, 1997 巻 28, 1996

Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v31.i7-9.180
pages 108-121

Computer Simulation for Dynamics of Elastic Multi-link Space Robots-manipulators

Tatyana V. Zavrazhina
International Research and Training Center of Information Technologies and Systems of National Academy of Sciences of Ukraine and Ministry of Education and Science of Ukraine, Kiev, Ukraine

要約

Based on common approach we formulate the problem of dynamic and kinematic control for spatial movement of an elastic multi-link robot-manipulator of space basing with executing mechanism and effector of joint-rod structure. Considering distributed elastic properties and inertia of manipulator links is based on Euler-Bernoulli model of a rod with assumption that each rod element is in a state of complex movement. We discuss specific difficulties of analysis of solutions of obtained essentially nonlinear system of resolving equations of hybrid type, which contain ordinary and partial derivatives with respect to time and spatial variables. Numerical method for solving this system is suggested. The comparison of obtained results with investigation data for dynamic characters of rigid space manipulator with equivalent geometrical and inertial properties is done.


Articles with similar content:

Dynamics of Robot Manipulator with Elastically Flexible Links and Drive Mechanisms
Journal of Automation and Information Sciences, Vol.37, 2005, issue 2
Tatyana V. Zavrazhina
Synthesis of the Optimal Control for Linear Stochastic Dynamical Systems with Finite Aftereffect and Poisson Disturbances
Journal of Automation and Information Sciences, Vol.40, 2008, issue 10
Vladimir K. Yasinskiy, Taras O. Lukashiv, Lyubov I. Yasinskaya
APPLICATION OF THE BIORTHOGONALIZATION VECTORS PROCEDURE TO APPLIED STRENGTH PROBLEMS
TsAGI Science Journal, Vol.48, 2017, issue 5
Julian Fedotovich Yaremchuk
The Method of Main Coordinate in the Theory of Parametric Synthesis of the Linear Stabilized Systems
Journal of Automation and Information Sciences, Vol.49, 2017, issue 3
Tatyana Ye. Aleksandrova , Yevgeniy Ye. Aleksandrov
Algorithms of Asymptotic, Terminal and Adaptive Stabilization of Rotary Motions of a Rigid Body
Journal of Automation and Information Sciences, Vol.35, 2003, issue 1
Vladimir T. Matvienko, Nikolay Fedorovich Kirichenko