STABILIZATION OF THE SPATIAL POSITION OF THE MANIPULATOR OF A PARALLEL-SEQUENTIAL STRUCTURE
| Autor: | N. S. Vorob’eva |
|---|---|
| Rok vydání: | 2021 |
| Zdroj: | IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY. :17-21 |
| ISSN: | 1990-5297 |
| DOI: | 10.35211/1990-5297-2021-9-256-17-21 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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