Controlled motion of an elastic manipulator

被引：0

作者：

Golubev, Yu.F. ^{[1
]}

Ditkovskij, A.E. ^{[1
]}

机构：

[1] MGU im. M.V. Lomonosova, Vorob'evy gory, Moscow, 119899, Russia

来源：

Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya | 2001年 / 06期

关键词：

Elastic moduli - Elasticity - Motion control - Numerical analysis - Problem solving;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The control of manipulators with elastic links and useful loading is investigated. The task is to transfer the manipulator from a given initial position into a specified final one without exciting its oscillations. The control is constructed as a power series in a parameter inversely proportional to Young's modulus. Recurrence formulas for all coefficients of the decomposition are obtained. The results of the numerical analysis of the control problems are presented.

引用

页码：166 / 176

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