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Control of a three-link robot moving on the plane with friction

  • Robotics
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Journal of Computer and Systems Sciences International Aims and scope

Abstract

A three-link robot capable of moving on a plane rough surface by varying its configuration is considered. A method for controlling slow (quasi-static) motions of such a robot is suggested, and feasibility of such motion for certain parameters of the robot is proved.

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References

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Authors and Affiliations

  1. Institute for Problems in Mechanics, Russian Academy of Sciences, pr. Vernadskogo 101, Moscow, 119526, Russia

    K. S. Sorokin

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  1. K. S. Sorokin
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Original Russian Text © K.S. Sorokin, 2009, published in Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 2009, No. 3, pp. 165–176.

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Sorokin, K.S. Control of a three-link robot moving on the plane with friction. J. Comput. Syst. Sci. Int. 48, 489–499 (2009). https://doi.org/10.1134/S1064230709030150

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  • DOI: https://doi.org/10.1134/S1064230709030150

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