2025-02-23T07:31:41-05:00 DEBUG: VuFindSearch\Backend\Solr\Connector: Query fl=%2A&wt=json&json.nl=arrarr&q=id%3A%22journalsiapmmlvivua-article-3553%22&qt=morelikethis&rows=5
2025-02-23T07:31:41-05:00 DEBUG: VuFindSearch\Backend\Solr\Connector: => GET http://localhost:8983/solr/biblio/select?fl=%2A&wt=json&json.nl=arrarr&q=id%3A%22journalsiapmmlvivua-article-3553%22&qt=morelikethis&rows=5
2025-02-23T07:31:41-05:00 DEBUG: VuFindSearch\Backend\Solr\Connector: <= 200 OK
2025-02-23T07:31:41-05:00 DEBUG: Deserialized SOLR response
Параметрична оптимізація циклічних транспортних операцій одноланкового маніпулятора з активним та пасивним приводами

Параметрична оптимізація циклічних транспортних операцій одноланкового маніпулятора з активним та пасивним приводами

The problem of optimization of the laws of the motion and parameters of a single-link manipulator performing the cyclic pick-and-place operations is investigated. The manipulator, under the influence of the active and passive (a set of springs) actuators, performs translational motion in the horizon...

Full description

Saved in:
Bibliographic Details
Main Authors: Demydyuk, M. V.; Інститут прикладних проблем механіки і математики ім. Я. С. Підстригача НАН України, Львів; Львівський національний університет ім. Івана Франка, Львів, Demydiuk, P. M.; ФОП, Львів, Shyrko, M. I.; ФОП, Львів
Format: Article
Published: Pidstryhach Institute for Applied Problems of Mechanics and Mathematics of NAS of Ukraine 2023
Subjects:
manipulator
mathematical model
optimal control
parametric optimization
nonlinear programming
UDC 531.8+62-50
маніпулятор
математична модель
оптимальне керування
параметрична оптимізація
нелінійне програмування
УДК 531.8+62-50
Online Access:http://journals.iapmm.lviv.ua/ojs/index.php/APMM/article/view/apmm2023.21.64-71
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The problem of optimization of the laws of the motion and parameters of a single-link manipulator performing the cyclic pick-and-place operations is investigated. The manipulator, under the influence of the active and passive (a set of springs) actuators, performs translational motion in the horizontal plane. The objective function is taken to be the quadratic functional. An approximate solution to the problem is constructed, based on the parameterization of the manipulator's motion law by the sum of a cubic polynomial and a finite trigonometric series with unknown coefficients, which reduces the original optimal control problem to a nonlinear programming problem.  Cite as: M. V. Demydyuk, P. M. Demydiuk, M. I. Shyrko, “Parametric optimization of the cyclic pick-and-place operations of a single-link manipulator with active and passive actuators,” Prykl. Probl. Mekh. Mat., Issue 21, 64–71 (2023) (in Ukrainian), https://doi.org/10.15407/apmm2023.21.64-71

Similar Items