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On the dynamic modelling of the multilink robot manipulators with viscoelastic joints

TitleOn the dynamic modelling of the multilink robot manipulators with viscoelastic joints
AuthorsA. S. Andreev1, E. A. Sutyrkina1, P. A. Buldakovskii1
1Ulyanovsk State University
AnnotationWe study the problem of the influence of the mechanical system hereditary properties on the stability of its equilibrium positions. We consider the control of the multilink manipulator with cylindrical viscoelastic joints of hereditary action according to the classical definition of V. Volterra. Some new control models for a multilink manipulator with viscoelastic cylindrical joints are presented. The manipulator dynamics equations are derived based on the concept of the mathematical model for a mechanical system with viscoelastic elements. The control laws are substantiated that solve the position stabilization problem of the manipulator without measuring velocity measurements as well as the trajectory tracking control problem. The control problem of the three-link manipulator with viscoelastic cylindrical joints is solved.
Keywordsmultilink robot manipulator, viscoelastic joints, motion stabilization
CitationAndreev A. S., Sutyrkina E. A., Buldakovskii P. A. ''On the dynamic modelling of the multilink robot manipulators with viscoelastic joints'' [Electronic resource]. Proceedings of the XVI International scientific conference "Differential equations and their applications in mathematical modeling". (Saransk, July 17-20, 2023). Saransk: SVMO Publ, 2023. - pp. 20-24. Available at: https://conf.svmo.ru/files/2023/papers/paper02.pdf. - Date of access: 24.07.2024.