IMPULSE CONTROL OF THE MANIPULATION ROBOT

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, Russian Federation)
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, Russian Federation)
Ilya A. Chupin     (Ural Federal University, 19 Mira str., Ekaterinburg, 620002, Russian Federation)

Abstract


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.


Keywords


Manipulation robot, Impulse controls, First integrals

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References


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DOI: http://dx.doi.org/10.15826/umj.2019.2.002

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