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Journal of Automation and Information Sciences

Publicou 12 edições por ano

ISSN Imprimir: 1064-2315

ISSN On-line: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

Indexed in

Control Problems of a Manipulator

Volume 30, Edição 4-5, 1998, pp. 1-14
DOI: 10.1615/JAutomatInfScien.v30.i4-5.10
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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).

CITADO POR
  1. 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

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