Studying the dynamics of high-speed elastic kinematically controlled robot-manipulator

1Zavrazhina, TV, 1Zavrazhina, NM
1Kyiv National University of Construction and Architecture, Kyiv, Ukraine
Kosm. nauka tehnol. 1998, 4 ;(1):74–82
Section: Space Instruments
Publication Language: Russian
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.
Keywords: dynamical characteristics, robot-manipulator, space instruments
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