Open AccessREDUCTION OF MATHEMATICAL MODEL OF ROBOT WITH ELASTIC JOINTS
Author(s) -
Olga V. Vidilina,
N. V. Voropaeva
Publication year - 2014
Publication title -
vestnik samarskogo universiteta. estestvennonaučnaâ seriâ
Language(s) - English
Resource type - Journals
eISSN - 2712-8954
pISSN - 2541-7525
DOI - 10.18287/2541-7525-2014-20-3-20-33
Subject(s) - uniqueness , reduction (mathematics) , class (philosophy) , mathematics , manifold (fluid mechanics) , robot , mathematical analysis , control theory (sociology) , computer science , geometry , engineering , artificial intelligence , control (management) , mechanical engineering
A model of n - joint manipulator with elastic joints with small dissipation is studied. Class of singularly perturbed dierential systems that describe the dynamics of robot is singled out. For a given class of systems the existence and uniqueness of integral manifoldness of slow movement is established, its features are studied. It is proved that integral manifold may be constructed with any degree of accuracy as asymptotic decomposition inpowers of small parameter. System that is used to describe movement in manifolds may be used as a reduced model of initial system.