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Programmed Motions Equations of Manipulation Systems
- Authors: Mukharliamov RG1, Joro G2, Abramov NV3
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Affiliations:
- Peoples Friendship University of Russia
- Universit.e dAbobo-Adjam.e, UFR-SFA
- Samara State Unversity of Economics
- Issue: No 2 (2009)
- Pages: 79-89
- Section: Articles
- URL: https://journals.rudn.ru/miph/article/view/8711
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Abstract
The method of constructing dynamics equations of manipulation systems in generalized coordinates
and canonical variables is suggested. Control actions are defined in consistence with
exponential stability of the dynamics equations integral manifold, which is described by constraints
equations. The solution of the problem of two-link plane manipulators programmed
motion is given.
and canonical variables is suggested. Control actions are defined in consistence with
exponential stability of the dynamics equations integral manifold, which is described by constraints
equations. The solution of the problem of two-link plane manipulators programmed
motion is given.
About the authors
R G Mukharliamov
Peoples Friendship University of RussiaКафедра теоретической механики; Российский университет дружбы народов; Peoples Friendship University of Russia
G Joro
Universit.e dAbobo-Adjam.e, UFR-SFAКафедра математики и информатики; Университет Абобо-Аджамэ Абиджан; Universit.e dAbobo-Adjam.e, UFR-SFA
N V Abramov
Samara State Unversity of EconomicsКафедра экономической информатики; Самарский государственный экономический университет; Samara State Unversity of Economics
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