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Avtomatika i Telemekhanika, 1989, Issue 9, Pages 67–81 (Mi at6419)  
This article is cited in 5 scientific papers (total in 5 papers)

Deterministic Systems

Controlling the motion of manipulation robots through decomposition with an allowance for the dynamics of actuators

V. I. Matyukhin, E. S. Pyatnitskii

Moscow
Full-text PDF (1752 kB) Citations (5)
Abstract: Conditions are studied for existence of motions of manipulation robots in decomposition mode (with full compensation of dynamic interaction of its elements) with an allowance for the dynamics of actuators. The form is found of control equations which ensure motion in decomposition mode. A set of manipulator movements is obtained that can be implemented in the interaction — compensation mode with an allowance for the dynamics of actuators and conditions are formulated for stability of these movements.

Received: 19.09.1988
Bibliographic databases:
Document Type: Article
UDC: 517.987
Language: Russian
Citation: V. I. Matyukhin, E. S. Pyatnitskii, “Controlling the motion of manipulation robots through decomposition with an allowance for the dynamics of actuators”, Avtomat. i Telemekh., 1989, no. 9, 67–81; Autom. Remote Control, 50:9 (1989), 1201–1212
Citation in format AMSBIB
\Bibitem{MatPya89}
\by V.~I.~Matyukhin, E.~S.~Pyatnitskii
\paper Controlling the motion of manipulation robots through decomposition with an allowance for the dynamics of actuators
\jour Avtomat. i Telemekh.
\yr 1989
\issue 9
\pages 67--81
\mathnet{http://mi.mathnet.ru/at6419}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=1026525}
\zmath{https://zbmath.org/?q=an:0706.93042}
\transl
\jour Autom. Remote Control
\yr 1989
\vol 50
\issue 9
\pages 1201--1212
Linking options:
  • https://www.mathnet.ru/eng/at6419
  • https://www.mathnet.ru/eng/at/y1989/i9/p67
    • This publication is cited in the following 5 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:230
    Full-text PDF :90
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