IMPULSE CONTROL OF THE MANIPULATION ROBOT
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 controls, the...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Ural Branch of the Russian Academy of Sciences and Ural Federal University named after the first President of Russia B.N.Yeltsin, Krasovskii Institute of Mathematics and Mechanics
2019-12-01
|
| Series: | Ural Mathematical Journal |
| Subjects: | |
| Online Access: | https://umjuran.ru/index.php/umj/article/view/195 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849415958809018368 |
|---|---|
| author | Yurii F. Dolgii Alexander N. Sesekin Ilya G. Chupin |
| author_facet | Yurii F. Dolgii Alexander N. Sesekin Ilya G. Chupin |
| author_sort | Yurii F. Dolgii |
| collection | DOAJ |
| description | 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 controls, the classical first integrals of Lagrangian mechanics were used. The effectiveness of the proposed algorithm is illustrated by computer simulation. |
| format | Article |
| id | doaj-art-271c741340d34d608c0db60cbecf6bb4 |
| institution | Kabale University |
| issn | 2414-3952 |
| language | English |
| publishDate | 2019-12-01 |
| publisher | Ural Branch of the Russian Academy of Sciences and Ural Federal University named after the first President of Russia B.N.Yeltsin, Krasovskii Institute of Mathematics and Mechanics |
| record_format | Article |
| series | Ural Mathematical Journal |
| spelling | doaj-art-271c741340d34d608c0db60cbecf6bb42025-08-20T03:33:20ZengUral Branch of the Russian Academy of Sciences and Ural Federal University named after the first President of Russia B.N.Yeltsin, Krasovskii Institute of Mathematics and MechanicsUral Mathematical Journal2414-39522019-12-015210.15826/umj.2019.2.00283IMPULSE CONTROL OF THE MANIPULATION ROBOTYurii F. Dolgii0Alexander N. Sesekin1Ilya G. Chupin2Ural Federal University, 19 Mira str., Ekaterinburg, 620002; Krasovskii Institute of Mathematics and Mechanics, Ural Branch of the Russian Academy of Sciences, 16 S. Kovalevskaya Str., Ekaterinburg, 620990Ural Federal University, 19 Mira str., Ekaterinburg, 620002; Krasovskii Institute of Mathematics and Mechanics, Ural Branch of the Russian Academy of Sciences, 16 S. Kovalevskaya Str., Ekaterinburg, 620990Ural Federal University, 19 Mira str., Ekaterinburg, 620002A 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 controls, the classical first integrals of Lagrangian mechanics were used. The effectiveness of the proposed algorithm is illustrated by computer simulation.https://umjuran.ru/index.php/umj/article/view/195manipulation robot, impulse controls, first integrals |
| spellingShingle | Yurii F. Dolgii Alexander N. Sesekin Ilya G. Chupin IMPULSE CONTROL OF THE MANIPULATION ROBOT Ural Mathematical Journal manipulation robot, impulse controls, first integrals |
| title | IMPULSE CONTROL OF THE MANIPULATION ROBOT |
| title_full | IMPULSE CONTROL OF THE MANIPULATION ROBOT |
| title_fullStr | IMPULSE CONTROL OF THE MANIPULATION ROBOT |
| title_full_unstemmed | IMPULSE CONTROL OF THE MANIPULATION ROBOT |
| title_short | IMPULSE CONTROL OF THE MANIPULATION ROBOT |
| title_sort | impulse control of the manipulation robot |
| topic | manipulation robot, impulse controls, first integrals |
| url | https://umjuran.ru/index.php/umj/article/view/195 |
| work_keys_str_mv | AT yuriifdolgii impulsecontrolofthemanipulationrobot AT alexandernsesekin impulsecontrolofthemanipulationrobot AT ilyagchupin impulsecontrolofthemanipulationrobot |