Title :
Modeling and control of robot manipulators with the constraints at the moving objects
Author :
Felix Kulakov;Gennadiy V. Alferov;Polina Efimova;Svetlana Chernakova;Dmitry Shymanchuk
Author_Institution :
Saint-Petersburg State University, 7/9 Universitetskaya nab., 199034, Russia
Abstract :
In this paper a method of constructing a model of control over compliant motion of robot manipulators is considered. In this method the elastic deformations of flexible manipulators elements are used as feedback signals.
Keywords :
"Mathematical model","Manipulator dynamics","Control systems","Symmetric matrices","Dynamics"
Conference_Titel :
"Stability and Control Processes" in Memory of V.I. Zubov (SCP), 2015 International Conference
DOI :
10.1109/SCP.2015.7342075
