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.
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页码：166 / 176
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