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自动化与信息科学期刊
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN 打印: 1064-2315
ISSN 在线: 2163-9337

卷:
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自动化与信息科学期刊

DOI: 10.1615/JAutomatInfScien.v29.i2-3.50
pages 22-29

Coordination Approach to the Organization of Motion of Manipulation Robots

Yuriy V. Krak
Kiev National Taras Shevchenko University, V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kiev

ABSTRACT

A hierarchical organization of control of motion of a manipulator is proposed, where the coordination (the realization of motion with reduction of redundancies) is carried out at each control level - the strategical, tactical, and executive. Mathematical methods of coordination for solution of problems of kinematics, trajectory planning, and formulation of dynamics equations are proposed based on the optimization methods and numerical-analytic computations.


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