Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints

V. V. Avetisyan, N. V. Ovakimyan

Research output: Contribution to journalArticlepeer-review

Abstract

The problem of constructing the regions to which a two-link manipulator on the configuration plane is brought by time optimal controls with a minimum number of switchings without the violation of constraints on the angular velocities of the manipulator is solved.

Original languageEnglish (US)
Pages (from-to)143-151
Number of pages9
JournalIzvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya
Volume36
Issue number4
StatePublished - Jul 1997
Externally publishedYes

ASJC Scopus subject areas

  • General Engineering

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