IMPULSE CONTROL OF THE MANIPULATION ROBOT

Yurii F. Dolgii; Alexander N. Sesekin; Ilya G. Chupin

doi:10.15826/umj.2019.2.002

Ural Mathematical Journal (Dec 2019)

IMPULSE CONTROL OF THE MANIPULATION ROBOT

Yurii F. Dolgii,
Alexander N. Sesekin,
Ilya G. Chupin

Affiliations

Yurii F. Dolgii: Ural 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, 620990
Alexander N. Sesekin: Ural 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, 620990
Ilya G. Chupin: Ural Federal University, 19 Mira str., Ekaterinburg, 620002

DOI: https://doi.org/10.15826/umj.2019.2.002
Journal volume & issue: Vol. 5, no. 2

Abstract

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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.

manipulation robot, impulse controls, first integrals

Published in Ural Mathematical Journal

ISSN: 2414-3952 (Online)
Publisher: Krasovskii Institute of Mathematics and Mechanics of the Ural Branch of the Russian Academy of Sciences and Ural Federal University named after the first President of Russia B.N.Yeltsin.
Country of publisher: Russian Federation
LCC subjects: Science: Mathematics
Website: https://umjuran.ru

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