2015 International Conference "Stability and Control Processes" in Memory of V.I. Zubov (SCP) 2015
DOI: 10.1109/scp.2015.7342075
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Modeling and control of robot manipulators with the constraints at the moving objects

Abstract: Abstract-In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals.

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Cited by 35 publications
(13 citation statements)
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“…Periodic solutions take an important part in the qualitative theory of differential equations and in applied problems [3]. The analysis problems for periodic solutions of differential equations arise in classical mechanics, celestial mechanics [4][5][6][7][8][9][10][11][12][13][14][15], space robotics [16][17][18][19][20][21][22][23][24], in modeling of economic processes [25][26][27][28][29]. However, there is no general approach to study periodic solutions of differential equations.…”
Section: Introductionmentioning
confidence: 99%
“…Periodic solutions take an important part in the qualitative theory of differential equations and in applied problems [3]. The analysis problems for periodic solutions of differential equations arise in classical mechanics, celestial mechanics [4][5][6][7][8][9][10][11][12][13][14][15], space robotics [16][17][18][19][20][21][22][23][24], in modeling of economic processes [25][26][27][28][29]. However, there is no general approach to study periodic solutions of differential equations.…”
Section: Introductionmentioning
confidence: 99%
“…Thus nowadays the use of fl ex manipulators is problematic, and therefore it is necessary to fi nd a design without the above disadvantages. In [5,6,7,8], a description of various variants of the structures of fl exible manipulators for collection of fruitswere given. On the basis of experimental data, it is determined that the use of such facilities is promising.…”
Section: Introductionmentioning
confidence: 99%
“…The researches in this field and close to it directions are hold by the German Space Agency (DARA) [1,2], the National Aeronautics and Space Administration (NASA), as well as in Canada and Japan. This article presents the results of searches in St.-Petersburg National Research University (ITMO) [3][4][5], St.-Petersburg Institute of Informatics and Automation of RAS (SPIIRAS) [6][7][8][9][10] and in St. Petersburg State University (SPSU) [12][13][14][15][16][17][18][19]. The main crucial obstacle while constructing efficient systems of remote control over space robots is a significant delay of control signals transferring to the space robots from the ground control center, as well as delay of feedback signals receiving mainly in case of control over robot manipulators moving objects with constraints, in particular, holonomic [9,10].…”
Section: Introductionmentioning
confidence: 99%
“…The remaining blocks shown in Fig. 2 implement augmented reality technology to create for a human a realistic illusion of interaction with the space robot, operating in a real external environment [5][6][7].…”
Section: Introductionmentioning
confidence: 99%
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