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Analytic description of discrete dynamics of a robot-manipulator in an indefinite exterior medium by methods of idempotent mathematics

D. A. Nikolaev

Lipetsk State Technical University, Lipetsk, Russia

Abstract: The analytic model of the dynamics of a robot-manipulator is obtained in the infinitely indefinite dynamic and completely observable exterior medium. The unboundedness property of indefiniteness most exactly accounts for the unpredictability of the real world, in which most of the moving objects of the technical nature have to function, and considerably complicates the problem of modeling because in this case the results of the classical theory of control are inapplicable in full measure. In this work an alternative approach to the modeling is developed on the basis of idempotent mathematics, which differs from the known approaches by the possibility of representing a model in the explicit analytic form.

Presented by the member of Editorial Board: B. T. Polyak

Received: 19.01.2012

 English version: Automation and Remote Control, 2012, 73:11, 1852–1864

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