Article ID: | iaor20114130 |
Volume: | 72 |
Issue: | 4 |
Start Page Number: | 740 |
End Page Number: | 753 |
Publication Date: | Apr 2011 |
Journal: | Automation and Remote Control |
Authors: | Matyukhin I |
Keywords: | robotics, optimal control |
We consider mechanical systems like a manipulating robot, an excavator, and other similar devices. Known solutions for the general problem of manipulator motion stability have been obtained under rather strong assumptions. A special but important case of the stability problem under natural assumptions is solved in this work. We have constructed a control law that stabilizes the motions of a system lying inside a given surface. One example of such surface might be the surface along which a welding seam goes in the problem of automated welding with a manipulator.