78627

Автор(ы): 

Антипов А. С. (ИПУ РАН, Лаборатория 37)
Грезнев П. П. (ИПУ РАН, Лаборатория 37)

Автор(ов): 

2

Параметры публикации

Тип публикации: 

Доклад

Название: 

Comparison of Two Methods to Control a Two-Link Manipulator Based on a Block Approach Without Solving the Inverse Kinematics Problem

Электронная публикация: 

Да

ISBN/ISSN: 

979-8-3503-7571-8

DOI: 

10.1109/MLSD61779.2024.10739455

Наименование конференции: 

  • 2024 17th International Conference Management of large-scale system development (MLSD)

Наименование источника: 

  • Proceedings of the 17th International Conference Management of Large-Scale System Development (MLSD)

Город: 

  • Moscow

Издательство: 

  • IEEE

Год издания: 

2024

Страницы: 

10739455 (1-5) https://ieeexplore.ieee.org/document/10739455
Аннотация
This paper proposes two control laws for a two-link manipulator that does not require solving the inverse kinematics problem. The first control law provides asymptotic convergence of the tracking error assuming that all parameters of the plant are known. The second method stabilizes the tracking error at a given accuracy in the presence of uncertainties.

Библиографическая ссылка: 

Антипов А.С., Грезнев П.П. Comparison of Two Methods to Control a Two-Link Manipulator Based on a Block Approach Without Solving the Inverse Kinematics Problem / Proceedings of the 17th International Conference Management of Large-Scale System Development (MLSD). Moscow: IEEE, 2024. С. 10739455 (1-5) https://ieeexplore.ieee.org/document/10739455.