The controlling of robot with three degrees of freedom

The controlling of robot with three degrees of freedom

A nonlinear control problem for a manipulation robot is considered. The solvability conditions for the problem are obtained in the class of special impulse controls. To achieve the control goal, the kinetic energy of the manipulation robot is used. When finding analytical formulas for control contro...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Chupin, I. A., Dolgii, Yu. F., Sesekin, A. N.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Kinetic energy
Nonlinear control
Robots
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Beschreibung
Zusammenfassung:A nonlinear control problem for a manipulation robot is considered. The solvability conditions for the problem are obtained in the class of special impulse controls. To achieve the control goal, the kinetic energy of the manipulation robot is used. When finding analytical formulas for control controls, the classical first integrals of Lagrangian mechanics were used.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0032335