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Optimal control of an elastic manipulator with restricted rate of acceleration. (Russian) Zbl 0597.70002

The problem of controlling the motion of a manipulator from its initial phase state into a finite state within a minimum time interval is studied. In contradiction to many other papers, restrictions for the rate of acceleration of the transport motions of the system are imposed in addition to those for suppression of elastic vibrations of the arms of the manipulator.
A solution algorithm is constructed for this problem by means of the method of moments. The mechanical system is defined by a system of equations with boundary and initial conditions derived in an earlier paper of the first author [Prikl. Mat. Mekh. 48, 238-246 (1984; Zbl 0587.73099)] and regarding the suppression of an arbitrary number of modes of elastic vibrations of the manipulator.
Reviewer: E.Ihle

MSC:

70B15 Kinematics of mechanisms and robots
70Q05 Control of mechanical systems
49K15 Optimality conditions for problems involving ordinary differential equations
74K15 Membranes

Citations:

Zbl 0587.73099
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