V.I. Shiryaev
Doctor of Technical Sciences, South Ural State University (National Research University) (SUSU NRU), Professor, Head of chair, Lenina pr., 76, Chelyabinsk, Chalyabinskaya obl., Russia, tel.: +7(351)900-12-10 ,This email address is being protected from spambots. You need JavaScript enabled to view it.
A.A. Bragina
South Ural State University (National Research University) (SUSU NRU), Associate Professor, Lenina pr., 76, Chelyabinsk,
Chalyabinskaya obl., Russia, tel.: +7 (351)267-90-43, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The task of synthesis of algorithms for manipulators' control via Lyapunov function method is investigated. The algorithms provide the asymptotic stability of the programmed trajectory following and estimation of quality for control performance.
Key words
Robot, manipulator, equation, opacity, motion, selection.
Year 2014 Issue number 1 Consecutive issue number 2 Pages 18-21
UDC identifier: 621.865.8
