{"title":"机械臂运动稳定问题的直接Lyapunov方法","authors":"A. Andreev, O. Peregudova","doi":"10.1109/STAB49150.2020.9140548","DOIUrl":null,"url":null,"abstract":"In this paper, an overview of the direct Lyapunov method development in the motion stabilization problem of multi-link robot manipulators is presented. Various robot models are considered such as ones with prismatic and cylindrical joints taking into account the elasticity properties of the connecting elements of the links.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"The Direct Lyapunov Method in the Motion Stabilization Problems of Robot Manipulators\",\"authors\":\"A. Andreev, O. Peregudova\",\"doi\":\"10.1109/STAB49150.2020.9140548\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an overview of the direct Lyapunov method development in the motion stabilization problem of multi-link robot manipulators is presented. Various robot models are considered such as ones with prismatic and cylindrical joints taking into account the elasticity properties of the connecting elements of the links.\",\"PeriodicalId\":166223,\"journal\":{\"name\":\"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)\",\"volume\":\"23 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/STAB49150.2020.9140548\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/STAB49150.2020.9140548","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The Direct Lyapunov Method in the Motion Stabilization Problems of Robot Manipulators
In this paper, an overview of the direct Lyapunov method development in the motion stabilization problem of multi-link robot manipulators is presented. Various robot models are considered such as ones with prismatic and cylindrical joints taking into account the elasticity properties of the connecting elements of the links.
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