{"title":"一种新型双连杆机械手的数学与计算机建模","authors":"A. Krasinsky, A. Yuldashev","doi":"10.1109/SUMMA48161.2019.8947534","DOIUrl":null,"url":null,"abstract":"For a new type of two-link manipulator with two nonlinear geometric constraints, a mathematical model of dynamics is developed in the form of vector-matrix equations M.F. Shulgin. The consideration as carried out taking into account transients in electric drives - DC collector motors with independent excitation. The results are used to solve the problem of stabilization of a given position of a grip of a manipulator.","PeriodicalId":163496,"journal":{"name":"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Mathematical and Computer Modeling of a New Type of Two-Link Manipulator\",\"authors\":\"A. Krasinsky, A. Yuldashev\",\"doi\":\"10.1109/SUMMA48161.2019.8947534\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"For a new type of two-link manipulator with two nonlinear geometric constraints, a mathematical model of dynamics is developed in the form of vector-matrix equations M.F. Shulgin. The consideration as carried out taking into account transients in electric drives - DC collector motors with independent excitation. The results are used to solve the problem of stabilization of a given position of a grip of a manipulator.\",\"PeriodicalId\":163496,\"journal\":{\"name\":\"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SUMMA48161.2019.8947534\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SUMMA48161.2019.8947534","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Mathematical and Computer Modeling of a New Type of Two-Link Manipulator
For a new type of two-link manipulator with two nonlinear geometric constraints, a mathematical model of dynamics is developed in the form of vector-matrix equations M.F. Shulgin. The consideration as carried out taking into account transients in electric drives - DC collector motors with independent excitation. The results are used to solve the problem of stabilization of a given position of a grip of a manipulator.
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