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
收藏
页码：166 / 176
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