 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| << Previous article | Volume 53, Issue 7 / 2018 | Next article >> |
| M.V. Golitsyna, "Periodic Regime of Motion of a Vibratory Robot under a Control Constraint," Mech. Solids. 53 (S1), 49-59 (2018) |
| Year |
2018 |
Volume |
53 |
Number |
S1 |
Pages |
49-59 |
| DOI |
10.3103/S002565441803007X |
| Title |
Periodic Regime of Motion of a Vibratory Robot under a Control Constraint |
| Author(s) |
M.V. Golitsyna (Moscow State University, Moscow, 119991 Russia, kulikovskaya-mary@yandex.ru) |
| Abstract |
A class of motions of a vibratory robot consisting of a body with a pendulum inside it, on the
angular acceleration of which a constraint is imposed, is considered. The limits of the angular acceleration correspond to the technical characteristics of the motor providing the pendulum rotation.
Some phase constraints are imposed on the system and the control is proposed which satisfies them
and provides periodic motions of the robot. The control during each period consists of seven intervals;
choice of control at each of them is conditioned by velocity maximization. For considered control law
numerical experiments are carried out and comparison with other controls is presented. |
| Received |
01 April 2016 |
| Link to Fulltext |
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