Mechanics

On one problem of the double linked manipulator movement correction

V. R. Barseghyan^a, A. G. Sargsyan<sup>b

a</sup> Yerevan State University
^b Institute of Mechanics, National Academy of Sciences of Armenia

Abstract: The task of reusable correction of the indignant trajectory controlled of the double linked manipulator is considered provided that the information on a condition of object acts with a mistake. The algorithm of optimum control of the manipulator watching for real movement and reducing difference of real movement from desirable is constructed.

Keywords: Algorithm of optimum control, double linked manipulator.

UDC: 62.50.531.8

Received: 08.07.2002
Accepted: 03.06.2003