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Портал Begell Электронная Бибилиотека e-Книги Журналы Справочники и Сборники статей Коллекции
Journal of Automation and Information Sciences
SJR: 0.238 SNIP: 0.464 CiteScore™: 0.27

ISSN Печать: 1064-2315
ISSN Онлайн: 2163-9337

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

Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v31.i1-3.380
pages 122-131

Dynamic Control of Plane Motion of Elastic Two-Link Space Manipulation Robot

V. I. Gulyaev
Ukrainian Transport University, Kiev, Technical State University of Construction and Architecture, Ukraine
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

Краткое описание

A mathematical model of dynamics of two-link space manipulation robot as a system with distributed elasticity and inertia parameters is constructed. A technique is proposed for solution of the problem of dynamic control of plane motion of this system, based on the combined application of the method of initial parameters and the methods of precise numerical integration. An example is considered.


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