Impulse control of the manipulation robot. (English) Zbl 1460.70007

Summary: 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.


70E60 Robot dynamics and control of rigid bodies
34H05 Control problems involving ordinary differential equations
93C10 Nonlinear systems in control theory
93C27 Impulsive control/observation systems
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