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Портал Begell Электронная Бибилиотека e-Книги Журналы Справочники и Сборники статей Коллекции
Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

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

Выпуски:
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Journal of Automation and Information Sciences

DOI: 10.1615/J Automat Inf Scien.v37.i4.80
pages 58-65

Control of Spatial Motions of Robot-Manipulator with Flexible Links of Arbitrary Shape

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

We investigate influence of flexibility of links of arbitrary shape of controlled manipulator mechanism of the consecutive hinged-rod structure on precision of its positioning. We conduct comparative analysis of two equivalent mathematical models of dynamics of this manipulator with rigid and flexible links. Solution of the problem of kinematic control of flexible and rigid robots, which links are realized as truncated cones of ring cross-section, is adduced as an example.