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Ural Mathematical Journal, 2019, Volume 5, Issue 2, Pages 13–20
DOI: https://doi.org/10.15826/umj.2019.2.002 (Mi umj99) 		 
This article is cited in 3 scientific papers (total in 3 papers)

Impulse control of the manipulation robot

Yurii F. Dolgiiab, Alexander N. Sesekinab, Ilya A. Chupina

a Ural Federal University, 19 Mira str., Ekaterinburg, 620002, Russia
b Krasovskii Institute of Mathematics and Mechanics, Ural Branch of the Russian Academy of Sciences, 16 S. Kovalevskaya str., Ekaterinburg, Russia, 620990
Full-text PDF (277 kB) Citations (3)
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DOI: https://doi.org/10.15826/umj.2019.2.002
Abstract: A nonlinear control problem for a manipulation robot is considered. The solvability conditions for the problem are obtained in the class of special impulse controls. To achieve the control goal, the kinetic energy of the manipulation robot is used. When finding analytical formulas for controls, the classical first integrals of Lagrangian mechanics were used. The effectiveness of the proposed algorithm is illustrated by computer simulation.
Keywords: Manipulation robot, Impulse controls, First integrals.
Bibliographic databases:
Document Type: Article
Language: English
Citation: Yurii F. Dolgii, Alexander N. Sesekin, Ilya A. Chupin, “Impulse control of the manipulation robot”, Ural Math. J., 5:2 (2019), 13–20
Citation in format AMSBIB
\Bibitem{DolSesChu19}
\by Yurii F. Dolgii, Alexander N. Sesekin, Ilya A. Chupin
\paper Impulse control of the manipulation robot
\jour Ural Math. J.
\yr 2019
\vol 5
\issue 2
\pages 13--20
\mathnet{http://mi.mathnet.ru/umj99}
\crossref{https://doi.org/10.15826/umj.2019.2.002}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=MR4054647}
\zmath{https://zbmath.org/?q=an:07255675}
\elib{https://elibrary.ru/item.asp?id=41672790}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85078726311}
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    • This publication is cited in the following 3 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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