Studying the dynamics of high-speed elastic kinematically controlled robot-manipulator
Heading:
| 1Zavrazhina, TV, 1Zavrazhina, NM 1Kyiv National University of Construction and Architecture, Kyiv, Ukraine |
| Kosm. nauka tehnol. 1998, 4 ;(1):74–82 |
| https://doi.org/10.15407/knit1998.01.074 |
| Publication Language: Russian |
Abstract: We set out the problem on controlling kinematically spatial motions of a flexible multi-link space robot-manipulator under conditions of its high-speed manoeuvring. The constructed mathematical model of the system dynamics takes into account the distributed properties of elasticity and inertia of the manipulator links, which are at the state of compound motion. We give an example of the numerical investigation of dynamical characteristics of a two-link robot when it is employed to carry a load.
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| Keywords: dynamical characteristics, robot-manipulator, space instruments |
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