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Mathematical Modeling of Copying Control by a Robotic Unit with a Linear Electric Drive with an Elastic Link

  • MECHANICS OF MACHINES
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Abstract

This article is about developing the mathematical model and studying the copying control system of a robotic unit with a linear electric drive with an elastic link. Particular emphasis is placed on modeling the nonlinear electric drive and measurement system devices. A comprehensive criterion is elaborated for evaluating the quality indicators of the control system. Opportunities for minimizing the influence of nonlinearities on the stability of the copying control system by optimization of parameters are studied.

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Funding

This article was supported by the Russian Foundation for Basic Research, project no. 18-08-00773А “Studying Regularities in the Interaction of Power Armor Feet with a Rough Bearing Area.”

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Authors and Affiliations

  1. Southwest State University, 305040, Kursk, Russia

    A.V. Mal’chikov, S. F. Yatsun & A. S. Yatsun

Authors
  1. A.V. Mal’chikov
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  2. S. F. Yatsun
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  3. A. S. Yatsun
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Corresponding author

Correspondence to S. F. Yatsun.

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The authors declare that they have no conflict of interest.

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Translated by S. Kuznetsov

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Mal’chikov, A., Yatsun, S.F. & Yatsun, A.S. Mathematical Modeling of Copying Control by a Robotic Unit with a Linear Electric Drive with an Elastic Link. J. Mach. Manuf. Reliab. 48, 408–415 (2019). https://doi.org/10.3103/S1052618819050054

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  • DOI: https://doi.org/10.3103/S1052618819050054

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