Publicou 12 edições por ano
ISSN Imprimir: 1064-2315
ISSN On-line: 2163-9337
Indexed in
Control Problems of a Manipulator
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.
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Fu, K., Gonzales, R., and Lee, K., Robotekhnika (Robotics).
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Ham, W., Adaptive Control Based on Explicit Model of Robot Nanipulator.
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Kil'chevskii, N. A., Remizova, N. D., and Kil'chevskaya, E. N., Osnovy teoreticheskoi mekhaniki (Foundations of Theoretical Mechanics).
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Shin, K. G. and Mckay, N. D., A Dynamic Programming Approach to Trajectory Planning of Robotic Manipulators.
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Shin, K. G. and Mckay, N. D., Selection of Near-Minimum Time Geometric Paths for Robotic Manipulators.
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Barbashin, E. A., Funktsii Lyapunova (Lyapunov Functions).
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Voevodin, V. V. and Kuznetsov, Yu. A., Matritsy i vychisleniya (Matrices and Calculations).
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Van Damme M., Vanderborght B., Beyl P., Versluys R., Vanderniepen I., Van Ham R., Cherelle P., Daerden F., Lefeber D., Sliding mode control of a “Soft” 2-DOF Planar Pneumatic Manipulator, International Applied Mechanics, 44, 10, 2008. Crossref