Characteristics of the movement of a controlled mechanical system with elastically connected mobile elements
โ Scribed by V. S. Khoroshilov; V. F. Yashchenko
- Publisher
- Springer US
- Year
- 1990
- Tongue
- English
- Weight
- 344 KB
- Volume
- 26
- Category
- Article
- ISSN
- 1573-8582
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
Sufficient conditions are presented for the stabilizability and global controllability of certain natural Lagrangian systems with a non-negative potential energy when there are ideal unilateral constraints. In the general case, the number of controls is less than the number of degrees of freedom and
R is required to positio~l a Lagrang~ system whose free and controllable degrees of freedom are elastically linked. The equations of motion of such systems describe, in particular, the dynamics of a robot manipulator with elastic joints. The proposed control laws enable restrictions ,an the value of