Methodical Features of Acquisition of Independent Dynamic Equation of Relative Movement of One-Degree of Freedom Manipulator on Movable Foundation as Control Object

  • P. P. Belonozhko
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 95)


Purpose Model problems, where dynamic conditions permit an analytical treatment and it is possible to reveal qualitative movement pattern, to analyze influence of control object parameters to its execution behaviour, are of substantial interest in the view of features of synthesis of control and making a Robot Central Nervous System (RCNS) for perspective robot systems. Results During the stated problem formulated in [1] a procedure of acquisition of independent dynamic equation of a plain articulate two-element mechanism relative motion, based on separation of generalized coordinates on cyclic and positional, is considered. Practical importance Received results have a method value in the view of research of the case being of applied interest of spatial motion of system of two solids connected using spatial mechanism with purposive variable configuration (manipulator).


Manipulator Movable basis Research of dynamic conditions Model task Routhan equation 


  1. 1.
    Artemenko, Y.N., Karpenko, A.P., Belonozhko, P.P.: Features of manipulator dynamics modeling into account a movable platform In: Gorodetskiy A.E (ed.) Smart Electromechanical Systems. Studies in Systems, Decision and Control 49, pp. 177–190. Springer International Publishing Switzerland, Berlin (2016). doi  10.1007/978-3-319-27547-5_17
  2. 2.
    Belonozhko, P.P.: Prospective installation-service robotic space modules. Robot. Tech. Cybern. 2(7), 18–23 (2015) (in Russian)Google Scholar
  3. 3.
    Smol’nikov B.A.: Problemy Mekhaniki I Optimizatsii Robotov (Problems of mechanics and optimization of robots), p. 232 Nauka Publications, Moscow (1991) (in Russian)Google Scholar
  4. 4.
    Lurie A.I.: Analitycheskaya Mekhanika (Analytical Mechanics), p. 824 Fizmatgiz Publications, Moscow (1961) (in Russian)Google Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.The Bauman Moscow State Technical UniversityMoscowRussia

Personalised recommendations