Inscrição na biblioteca: Guest
Portal Digital Begell Biblioteca digital da Begell eBooks Diários Referências e Anais Coleções de pesquisa
Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimir: 1064-2315
ISSN On-line: 2163-9337

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

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

RESUMO

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.

Referências

  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).


Articles with similar content:

Optimization of Linear Control System under Terminal Constraints
Journal of Automation and Information Sciences, Vol.39, 2007, issue 5
Natalya V. Balashevich
Solution of One Problem of Control of Parabolic System
Journal of Automation and Information Sciences, Vol.31, 1999, issue 1-3
Larisa S. Koriashkina
Coordination Approach to the Organization of Motion of Manipulation Robots
Journal of Automation and Information Sciences, Vol.29, 1997, issue 2-3
Yuriy V. Krak
Convergence of a Matrix Gradient Control Algorithm with Feedback Under Constraints
Journal of Automation and Information Sciences, Vol.32, 2000, issue 10
Yarema I. Zyelyk
Output Stabilization and Weighted Suppression of Disturbances in Discrete-Time Control Systems
Journal of Automation and Information Sciences, Vol.49, 2017, issue 11
Sergey N. Kusii , Alexey G. Mazko