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arXiv · 2007.01821

Regularization of the movement of a material point along a flat trajectory: application to robotics problems

B. G. Mukanova·M. A. Akhmetzhanov·D. N. Azimova
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Abstract

The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is assumed to be planar and defined in advance. The problem is reduced to a system of ordinary differential equations of the fourth order. Numerical examples of solving the problem for movement along straight, circular and elliptical trajectories are given.

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B. G. Mukanova, M. A. Akhmetzhanov, D. N. Azimova. 2020-07-02. Regularization of the movement of a material point along a flat trajectory: application to robotics problems. https://arxiv.org/abs/2007.01821

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