### 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 language | English |
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Title of host publication | International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018 |

Editors | T.E. Simos, T.E. Simos, T.E. Simos, T.E. Simos, Ch. Tsitouras, T.E. Simos |

Publisher | American Institute of Physics |

ISBN (Print) | 9780735418547 |

DOIs | |

Publication status | Published - 24 Jul 2019 |

Event | International Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018 - Rhodes Duration: 13 Sep 2018 → 18 Sep 2018 |

### Publication series

Name | AIP Conference Proceedings |
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Volume | 2116 |

ISSN (Print) | 0094-243X |

ISSN (Electronic) | 1551-7616 |

### Conference

Conference | International Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018 |
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Country | Greece |

City | Rhodes |

Period | 13/09/18 → 18/09/18 |

### Fingerprint

### Scopus subject areas

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

### Cite this

*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

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*International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018.*, 080005, AIP Conference Proceedings, vol. 2116, American Institute of Physics, Rhodes, 13/09/18. https://doi.org/10.1063/1.5114065

**Modeling the motion of a space manipulation robot using position control.** / Kadry, Seifedine; Alferov, Gennady; Kondratyuk, Alena; Kurochkin, Vladislav; Zhao, Shixiang.

Research output

TY - GEN

T1 - Modeling the motion of a space manipulation robot using position control

AU - Kadry, Seifedine

AU - Alferov, Gennady

AU - Kondratyuk, Alena

AU - Kurochkin, Vladislav

AU - Zhao, Shixiang

PY - 2019/7/24

Y1 - 2019/7/24

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85063891013&partnerID=8YFLogxK

UR - http://www.mendeley.com/research/modeling-motion-space-manipulation-robot-using-position-control

U2 - 10.1063/1.5114065

DO - 10.1063/1.5114065

M3 - Conference contribution

AN - SCOPUS:85063891013

SN - 9780735418547

T3 - AIP Conference Proceedings

BT - International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018

A2 - Simos, T.E.

A2 - Simos, T.E.

A2 - Simos, T.E.

A2 - Simos, T.E.

A2 - Tsitouras, Ch.

A2 - Simos, T.E.

PB - American Institute of Physics

ER -