Relay Controls for an Inertialess Two-Link Manipulation Robot
Relay controls are used to solve the problem of moving an inertialess manipulator from the given starting position to the desired final equilibrium position. A method for finding relay control switching points is proposed. The main issue is to find the conditions for a solution to a nonlinear boundary value problem of a system of differential equations that determines the trajectory of the manipulator.
Authors
- I. А. Chupin (ORCID: https://orcid.org/0000-0002-9296-6667)
- Yu. F. Dolgii
Institutions
- Ural Federal University (RU)
- N.N. Krasovskii Institute of Mathematics and Mechanics of the Ural Branch of the Russian Academy of Sciences (RU)
- Ural Branch of the Russian Academy of Sciences (RU)
Publication Details
- Journal
- Journal of Computer and Systems Sciences International
- Published
- 2024-12-01
- DOI
- https://doi.org/10.1134/s1064230724700722
- Primary Topic
- Robotic Mechanisms and Dynamics
- Type
- article
- Field-Weighted Citation Impact
- 0.00