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

V. I. Gulyaev; Tatyana V. Zavrazhina

doi:10.1615/JAutomatInfScien.v31.i1-3.380

Journal of Automation and Information Sciences

Editor-in-Chief: Arkadiy A. Chikriy (open in a new tab)

Associate Editors: Vyacheslav F. Gubarev (open in a new tab) Yuriy P. Kondratenko (open in a new tab) Nonna V. Turovyerova (open in a new tab)

Published 12 issues per year

ISSN Print: 1064-2315

ISSN Online: 2163-9337

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

Volume 31, Issue 1-3, 1999, pp. 122-131

DOI: 10.1615/JAutomatInfScien.v31.i1-3.380

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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

ABSTRACT

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.

KEY WORDS: dynamic control, manipulation robots, hybrid-type differential equations

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