Relay Controls for an Inertialess Two-Link Manipulation Robot
摘要
Abstract
Relay controls are used to solve the problem of moving an inertialess manipulator from the given starting position to the desired final equilibrium position. A method for finding relay control switching points is proposed. The main issue is to find the conditions for a solution to a nonlinear boundary value problem of a system of differential equations that determines the trajectory of the manipulator.