Abstract

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Original languageEnglish
Title of host publicationEIGHTH POLYAKHOV'S READING
Subtitle of host publicationProceedings of the International Scientific Conference on Mechanics
EditorsElena V. Kustova, Gennady A. Leonov, Mikhail P. Yushkov, Nikita F. Morosov, Mariia A. Mekhonoshina
PublisherAmerican Institute of Physics
Number of pages7
Volume1959
ISBN (Electronic)9780735416604
ISBN (Print)9780735416604
DOIs
Publication statusPublished - 2018
EventВосьмые Поляховские чтения: международная научная конференция по механике - Старый Петергоф, Saint Petersburg
Duration: 29 Jan 20182 Feb 2018
Conference number: 8
https://events.spbu.ru/events/polyakhov_readings
http://nanomat.spbu.ru/en/node/175
http://nanomat.spbu.ru/ru/node/192
http://spbu.ru/news-events/calendar/viii-polyahovskie-chteniya

Publication series

NameAIP Conference Proceedings
PublisherAMER INST PHYSICS
Volume1959
ISSN (Print)0094-243X

Conference

ConferenceInternational Scientific Conference on Mechanics - Eighth Polyakhov's Reading
CountryRussian Federation
CitySaint Petersburg
Period29/01/182/02/18
Internet address

Scopus subject areas

  • Physics and Astronomy(all)

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  • Cite this

    Kurochkin, V., & Shymanchuk, D. (2018). Positional Control of Space Robot Manipulator. In E. V. Kustova, G. A. Leonov, M. P. Yushkov, N. F. Morosov, & M. A. Mekhonoshina (Eds.), EIGHTH POLYAKHOV'S READING: Proceedings of the International Scientific Conference on Mechanics (Vol. 1959). [080015] (AIP Conference Proceedings; Vol. 1959). American Institute of Physics. https://doi.org/10.1063/1.5034732