%0 Journal Article %A Larin, Vladimir B. %D 1998 %I Begell House %N 4-5 %P 1-14 %R 10.1615/JAutomatInfScien.v30.i4-5.10 %T Control Problems of a Manipulator %U https://www.dl.begellhouse.com/journals/2b6239406278e43e,573e6fed09bf9833,06ab0ca35327408d.html %V 30 %X A manipulator is considered as a control system of rigid bodies. Problems of parameterization of an open-loop trajectory and synthesis of a stabilization system are studied. The proposed procedure of parameterization allows us to use the well-known algorithms for the choice of the speed of motion of a manipulator with regard to potentialities of actuators. The synthesis of the stabilization system is carried out by using a Lyapunov function. An example of synthesis of an adaptive control algorithm of a manipulator is considered. %8 1998-10-01