Modeling the motion of a space manipulation robot using position control

Seifedine Kadry; Gennady Alferov; Alena Kondratyuk; Vladislav Kurochkin; Shixiang Zhao

doi:10.1063/1.5114065

Modeling the motion of a space manipulation robot using position control

Seifedine Kadry, Gennady Alferov, Alena Kondratyuk, Vladislav Kurochkin, Shixiang Zhao

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции

4 Цитирования (Scopus)

Аннотация

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.

Язык оригинала	английский
Название основной публикации	International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018
Редакторы	T.E. Simos, T.E. Simos, T.E. Simos, T.E. Simos, Ch. Tsitouras, T.E. Simos
Издатель	American Institute of Physics
ISBN (печатное издание)	9780735418547
DOI	https://doi.org/10.1063/1.5114065
Состояние	Опубликовано - 24 июл 2019
Событие	International Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018 - Rhodes, Греция Продолжительность: 13 сен 2018 → 18 сен 2018

Серия публикаций

Название	AIP Conference Proceedings
Том	2116
ISSN (печатное издание)	0094-243X
ISSN (электронное издание)	1551-7616

Конференция

Конференция	International Conference on Numerical Analysis and Applied Mathematics 2018, ICNAAM 2018
Страна	Греция
Город	Rhodes
Период	13/09/18 → 18/09/18

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Предметные области Scopus

Экология, эволюция поведение и систематика
Экология
Прикладная ботаника
Физика и астрономия (все)
Природа и охрана ландшафта

Цитировать

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

Kadry, Seifedine ; Alferov, Gennady ; Kondratyuk, Alena ; Kurochkin, Vladislav ; Zhao, Shixiang. / Modeling the motion of a space manipulation robot using position control. International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018. редактор / T.E. Simos ; T.E. Simos ; T.E. Simos ; T.E. Simos ; Ch. Tsitouras ; T.E. Simos. American Institute of Physics, 2019. (AIP Conference Proceedings).

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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.",

author = "Seifedine Kadry and Gennady Alferov and Alena Kondratyuk and Vladislav Kurochkin and Shixiang Zhao",

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Kadry, S, Alferov, G , Kondratyuk, A , Kurochkin, V & Zhao, S 2019, Modeling the motion of a space manipulation robot using position control. в TE Simos, TE Simos, TE Simos, TE Simos, C Tsitouras & TE Simos (ред.), International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018., 080005, AIP Conference Proceedings, том. 2116, American Institute of Physics, Rhodes, Греция, 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.

International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018. ред. / T.E. Simos; T.E. Simos; T.E. Simos; T.E. Simos; Ch. Tsitouras; T.E. Simos. American Institute of Physics, 2019. 080005 (AIP Conference Proceedings; Том 2116).

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции

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AU - Kurochkin, Vladislav

AU - Zhao, Shixiang

PY - 2019/7/24

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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.

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Kadry S, Alferov G , Kondratyuk A , Kurochkin V , Zhao S. Modeling the motion of a space manipulation robot using position control. В Simos TE, Simos TE, Simos TE, Simos TE, Tsitouras C, Simos TE, редакторы, International Conference on Numerical Analysis and Applied Mathematics, ICNAAM 2018. American Institute of Physics. 2019. 080005. (AIP Conference Proceedings). https://doi.org/10.1063/1.5114065

Доступ к документу

10.1063/1.5114065