Regularization of the movement of a material point along a flat trajectory: application to robotics problems

2020/07/02 by Mukanova, B. G., Akhmetzhanov, M. A., Azimova, D. N.
#34H99 #65K10 #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #G.1.6 #G.1.7 #Numerical Analysis (math.NA) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2007.01821

Abstract

The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is assumed to be planar and defined in advance. The problem is reduced to a system of ordinary differential equations of the fourth order. Numerical examples of solving the problem for movement along straight, circular and elliptical trajectories are given.

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