Open AccessSTABILIZATION OF THE SPATIAL POSITION OF THE MANIPULATOR OF A PARALLEL-SEQUENTIAL STRUCTURE
Author(s) -
N. S. Vorob’eva
Publication year - 2021
Publication title -
izvestiâ volgogradskogo gosudarstvennogo tehničeskogo universiteta
Language(s) - English
Resource type - Journals
ISSN - 1990-5297
DOI - 10.35211/1990-5297-2021-9-256-17-21
Subject(s) - position (finance) , representation (politics) , trajectory , manipulator (device) , basis (linear algebra) , control theory (sociology) , terminal (telecommunication) , boundary (topology) , control (management) , parallel manipulator , computer science , mathematics , mathematical analysis , geometry , law , artificial intelligence , robot , physics , political science , economics , telecommunications , finance , astronomy , politics
A method for constructing terminal control based on the representation of control functions relative to time is considered. The parameters of the functions are determined from the condition of satisfying the boundary conditions at the ends of the trajectory of the generalized coordinates of the manipulator. On the basis of the obtained program movements, a control law with feedbacks is constructed.