论文标题
物质点沿平坦轨迹的运动的正则化：对机器人问题的应用
Regularization of the movement of a material point along a flat trajectory: application to robotics problems
论文作者
论文摘要
考虑了沿预定义轨迹的工作工具运动的控制问题。整个运动时期的动能和加权惯性力的积分被认为是成本功能。假定该轨迹是平面并提前定义的。该问题将减少为第四阶的普通微分方程系统。给出了解决沿笔直，圆形和椭圆形轨迹运动问题的数值示例。
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.
