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SOURCE:   Almanac of Modern Science and Education. Tambov: Gramota, 2014. № 3. P. 50-52.
SCIENTIFIC AREA: Technical Sciences
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CONSTRUCTION OF MANIPULATION ROBOT CONTROL SYSTEM WITH LOCAL REGULATORS

Voronin Yurii Yur'evich
Moscow State University of Mechanical Engineering (MAMI)


Abstract. The manipulation robot is a complex many-dimensional system. In the article the author suggests a new approach to the construction of the manipulator linear control at the expense of local regulators use. This enables to obtain simple, but quite efficient robot control. The advantages of linear control are used, stability is analyzed.
Key words and phrases: механизм, манипулятор, система, управление, матрица, mechanism, manipulator, system, control, matrix.
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References:
  1. Voronin Yu. Yu. Samonastraivayushchayasya sistema s etalonnoi model'yu dlya upravleniya manipulyatsionnym robotom // Priborostroenie. 1989. № 8.
  2. Dinamika upravleniya robotami / pod red. E. I. Yurevicha. M.: Nauka, 1984.
  3. Sazonov G. G. Osnovy avtomaticheskogo upravleniya. TAU (dlya nespetsialistov). M.: MGOU, 1997.

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