一种新型双连杆机械手的数学与计算机建模

2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA) Pub Date : 2019-11-01 DOI:10.1109/SUMMA48161.2019.8947534

A. Krasinsky, A. Yuldashev

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引用次数: 1

摘要

针对一类具有两个非线性几何约束的新型双连杆机械臂，建立了矢量-矩阵方程形式的动力学数学模型。考虑到电力驱动中的瞬变-具有独立励磁的直流集电极电动机。该结果用于解决机械手手柄给定位置的稳定问题。

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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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2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

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