### 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 language | English |
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Title of host publication | EIGHTH POLYAKHOV'S READING |

Subtitle of host publication | Proceedings of the International Scientific Conference on Mechanics |

Editors | Elena V. Kustova, Gennady A. Leonov, Mikhail P. Yushkov, Nikita F. Morosov, Mariia A. Mekhonoshina |

Publisher | American Institute of Physics |

Number of pages | 7 |

Volume | 1959 |

ISBN (Electronic) | 9780735416604 |

ISBN (Print) | 9780735416604 |

DOIs | |

Publication status | Published - 2018 |

Event | International Scientific Conference on Mechanics: 8th Polyakhov's Reading - Saint Petersburg Duration: 29 Jan 2018 → 2 Feb 2018 |

### Publication series

Name | AIP Conference Proceedings |
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Publisher | AMER INST PHYSICS |

Volume | 1959 |

ISSN (Print) | 0094-243X |

### Conference

Conference | International Scientific Conference on Mechanics: 8th Polyakhov's Reading |
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Country | Russian Federation |

City | Saint Petersburg |

Period | 29/01/18 → 2/02/18 |

### Fingerprint

### Scopus subject areas

- Physics and Astronomy(all)

### Cite this

*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

}

*EIGHTH POLYAKHOV'S READING: Proceedings of the International Scientific Conference on Mechanics.*vol. 1959, 080015, AIP Conference Proceedings, vol. 1959, American Institute of Physics, Saint Petersburg, 29/01/18. https://doi.org/10.1063/1.5034732

**Positional Control of Space Robot Manipulator.** / Kurochkin, Vladislav; Shymanchuk, Dzmitry.

Research output › › peer-review

TY - GEN

T1 - Positional Control of Space Robot Manipulator

AU - Kurochkin, Vladislav

AU - Shymanchuk, Dzmitry

PY - 2018

Y1 - 2018

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85047210934&partnerID=8YFLogxK

U2 - 10.1063/1.5034732

DO - 10.1063/1.5034732

M3 - статья в сборнике материалов конференции

AN - SCOPUS:85047210934

SN - 9780735416604

VL - 1959

T3 - AIP Conference Proceedings

BT - EIGHTH POLYAKHOV'S READING

A2 - Kustova, Elena V.

A2 - Leonov, Gennady A.

A2 - Yushkov, Mikhail P.

A2 - Morosov, Nikita F.

A2 - Mekhonoshina, Mariia A.

PB - American Institute of Physics

ER -