Abstract: The problem of simulation and synthesis of manipulator control in the phase of joining the structural elements and subassemblies is considered in this paper. Special attention has been devoted ...

Abstract: Manipulation robots belong to a class of complex, nonlinear dynamic systems. In addition, they are subjected to the constraints resulting from work-space obstacles, kinematical and physical ...

Abstract: In the stage of nominal regimes, programmed (nominal) control is synthesized taking into account coupling among degrees of freedom under nominal conditions. Thus, in the stage of perturbed regimes ...

Abstract: Basic principles underlying the computer construction of the models of open kinematic chains using the recurrent relations from the rigid body kinematics are briefly presented in this paper. A ...

Abstract: The control and stability properties of a “simplified dynamic system” representing a particular biped gait are discussed. The simplified dynamic system consists of an algorithmically controlled ...

Abstract: Most of the robot task space control methods based on inverse Jacobian matrix suffer from instability in singular regions of workspace. Methods based on damped least-squares algorithm (DLS) for ...

Abstract: The paper presents the fundamentals of a synthesis approach to the gait of an anthropomorphic robot. The mathematical algorithms necessary to obtain the driving torques in the powered joints ...