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Avtomatika i Telemekhanika, 2011, Issue 4, Pages 71–85 (Mi at1690)  
This article is cited in 7 scientific papers (total in 7 papers)

Nonlinear Systems

Stabilizing manipulator motion along a given surface

V. I. Matyukhin

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
Full-text PDF (253 kB) Citations (7)
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Abstract: We consider mechanical systems like a manipulating robot, an excavator, and other similar devices. Known solutions for the general problem of manipulator motion stability have been obtained under rather strong assumptions. A special but important case of the stability problem under natural assumptions is solved in this work. We have constructed a control law that stabilizes the motions of a system lying inside a given surface. One example of such surface might be the surface along which a welding seam goes in the problem of automated welding with a manipulator.
Presented by the member of Editorial Board: A. P. Krishchenko

Received: 27.03.2009
English version:
Automation and Remote Control, 2011, Volume 72, Issue 4, Pages 740–753
DOI: https://doi.org/10.1134/S0005117911040060
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: V. I. Matyukhin, “Stabilizing manipulator motion along a given surface”, Avtomat. i Telemekh., 2011, no. 4, 71–85; Autom. Remote Control, 72:4 (2011), 740–753
Citation in format AMSBIB
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\paper Stabilizing manipulator motion along a~given surface
\jour Avtomat. i Telemekh.
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\pages 740--753
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    • This publication is cited in the following 7 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Avtomatika i Telemekhanika
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    Abstract page:274
    Full-text PDF :111
    References:33
    First page:6
     
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