Abstract

In this article the modeling of robot motion for the case of transferring a robot to a given point in the phase space and for transferring it to a program trajectory is under study. The equations of motion of the robot in the form of Lagrange's equations of the 2nd kind were derived. The positional control in the form of feedbacks is constructed. The graphs of changes in the components of the deviation vector and the components of the control vector for its translation onto the program trajectory are given.

Original languageEnglish
Title of host publicationInternational Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018
EditorsT.E. Simos, T.E. Simos, T.E. Simos, T.E. Simos, Ch. Tsitouras, T.E. Simos
PublisherAmerican Institute of Physics
ISBN (Print)9780735418547
DOIs
Publication statusPublished - 24 Jul 2019
EventInternational Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018 - Rhodes
Duration: 13 Sep 201818 Sep 2018

Publication series

NameAIP Conference Proceedings
Volume2116
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

ConferenceInternational Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018
CountryGreece
CityRhodes
Period13/09/1818/09/18

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Scopus subject areas

  • Ecology, Evolution, Behavior and Systematics
  • Ecology
  • Plant Science
  • Physics and Astronomy(all)
  • Nature and Landscape Conservation

Cite this

Kadry, S., Alferov, G., Kondratyuk, A., Kurochkin, V., & Zhao, S. (2019). Modeling the motion of a space manipulation robot using position control. In T. E. Simos, T. E. Simos, T. E. Simos, T. E. Simos, C. Tsitouras, & T. E. Simos (Eds.), International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018 [080005] (AIP Conference Proceedings; Vol. 2116). American Institute of Physics. https://doi.org/10.1063/1.5114065