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http://elar.urfu.ru/handle/10995/102813
Полная запись метаданных
Поле DC | Значение | Язык |
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dc.contributor.author | Filippovich, D. Y. | en |
dc.contributor.author | Alekseevich, C. I. | en |
dc.date.accessioned | 2021-08-31T15:05:28Z | - |
dc.date.available | 2021-08-31T15:05:28Z | - |
dc.date.issued | 2021 | - |
dc.identifier.citation | Filippovich D. Y. Impulse control of a two-link manipulation robot / D. Y. Filippovich, C. I. Alekseevich. — DOI 10.35634/2226-3594-2021-57-02 // Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta. — 2021. — Vol. 57. — P. 77-90. | en |
dc.identifier.issn | 22263594 | - |
dc.identifier.other | Final | 2 |
dc.identifier.other | All Open Access, Bronze | 3 |
dc.identifier.other | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85108957699&doi=10.35634%2f2226-3594-2021-57-02&partnerID=40&md5=59037f6d205be8529b4a41fea32e8303 | |
dc.identifier.other | https://journals.udsu.ru/mathematics/article/download/6047/5473 | m |
dc.identifier.uri | http://elar.urfu.ru/handle/10995/102813 | - |
dc.description.abstract | A nonlinear problem of controlling the movements of a two-link manipulation robot is considered. The free mechanical system has two first integrals in involution. Methods of classical mechanics are used for analytical integration of the system of nonlinear differential equations. A trajectory connecting the initial and final positions of the two-link manipulation robot in the configuration space is found. Impulse controls at the initial moment of time impart the necessary energy to the robot to enter this trajectory. Impulse controls are also used to damp the speeds of the robot at the end position. In a computer simulation of the proposed procedure for moving the robot, generalized impulse controls are approximated by rectangular impulses. © 2021 Udmurt State University. All right reserved. | en |
dc.format.mimetype | application/pdf | en |
dc.language.iso | ru | en |
dc.publisher | Udmurt State University | en |
dc.rights | info:eu-repo/semantics/openAccess | en |
dc.source | Izv. Inst. Mat. Inform. Udmurt. Gos. Univ. | 2 |
dc.source | Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta | en |
dc.subject | ENERGY CONSUMPTION | en |
dc.subject | FIRST INTEGRALS | en |
dc.subject | HAMILTON-JACOBI EQUATIONS | en |
dc.subject | IMPULSE CONTROL | en |
dc.subject | MANIPULATION ROBOT | en |
dc.subject | OPTIMAL CONTROL | en |
dc.subject | SPEED | en |
dc.title | Impulse control of a two-link manipulation robot | en |
dc.title | ИМПУЛЬСНЫЕ УПРАВЛЕНИЯ ДВУХЗВЕННЫМ МАНИПУЛЯЦИОННЫМ РОБОТОМ | ru |
dc.type | Article | en |
dc.type | info:eu-repo/semantics/article | en |
dc.type | info:eu-repo/semantics/publishedVersion | en |
dc.identifier.rsi | 46113050 | - |
dc.identifier.doi | 10.35634/2226-3594-2021-57-02 | - |
dc.identifier.scopus | 85108957699 | - |
local.contributor.employee | Filippovich, D.Y., Institute of Mathematics and Mechanics, Ural Branch, Russian Academy of Sciences, ul. S. Kovalevskoi 16, Yekaterinburg, 620990, Russian Federation, Ural Federal University, ul. Mira 19, Yekaterinburg, 620002, Russian Federation | |
local.contributor.employee | Alekseevich, C.I., Ural Federal University, ul. Mira 19, Yekaterinburg, 620002, Russian Federation | |
local.description.firstpage | 77 | - |
local.description.lastpage | 90 | - |
local.volume | 57 | - |
dc.identifier.wos | 000661445200002 | - |
local.contributor.department | Institute of Mathematics and Mechanics, Ural Branch, Russian Academy of Sciences, ul. S. Kovalevskoi 16, Yekaterinburg, 620990, Russian Federation | |
local.contributor.department | Ural Federal University, ul. Mira 19, Yekaterinburg, 620002, Russian Federation | |
local.identifier.pure | 22131797 | - |
local.identifier.eid | 2-s2.0-85108957699 | - |
local.identifier.wos | WOS:000661445200002 | - |
Располагается в коллекциях: | Научные публикации ученых УрФУ, проиндексированные в SCOPUS и WoS CC |
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Файл | Описание | Размер | Формат | |
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2-s2.0-85108957699.pdf | 230,88 kB | Adobe PDF | Просмотреть/Открыть |
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