Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm

Akhmatov, Azizbek, Ахматов, А, Axmatov, Azizbek

Mexanika muammolari jurnali · 2026-yil

Annotatsiya

A three-link anthropomorphic robotic arm moving in a vertical plane with viscous friction in the joints is considered. The problems of stabilizing a given position and a programmed motion are solved under the condition that only the joint angles are measured. For position stabilization, a nonlinear PI controller with feedback on the signs of half the error angles is proposed. Using Lyapunov functions, explicit conditions on the gains and the damping coefficient are obtained under which the position is stabilized for any initial deviations. For piecewise-constant sampled-data control, a bound on the admissible sampling period is found. For tracking a programmed motion, a control law with a dynamic filter replacing velocity measurement is constructed. It is proved that, under the conditions found, the tracking error tends to zero modulo 2???? for any initial conditions. The results are confirmed by numerical simulation.

Maqola ma’lumotlari
MualliflarAkhmatov, Azizbek, Ахматов, А, Axmatov, Azizbek
JurnalMexanika muammolari jurnali
NashriyotМеханика ва иншоотлар сейсмик мустаҳкамлиги институти
ISSN2010-7250
Nashr sanasi2026-09-30
Jild37
Son3
TilIngliz
Ilmiy sohaTexnika
Indeksga qo‘shilgan2026-10-18

Maqolaning asl sahifasi

Kalit so‘zlar

type 1 diabetes mellitus, glomerular filtration rate, cystatin C, HbA1c, TIR, chronic kidney disease, diabetic nephropathy, сахарный диабет 1 типа, скорость клубочковой фильтрации, цистатин С, HbA1c, TIR, хроническая болезнь почек, диабетическая нефропатия, 1-tur qandli diabet, glomerulyar filtratsiya tezligi, sistatin C, HbA1c, TIR, surunkali buyrak kasalligi, diabetik nefropatiya

Ilmiy soha

Texnika

Iqtibos keltirish

APAAkhmatov, Azizbek, Ахматов, А, & Axmatov, Azizbek (2026). Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm. Mexanika muammolari jurnali, 37(3). https://www.pmjournal.uz/index/article/view/19
GOST (OAK)Akhmatov, Azizbek, Ахматов, А, Axmatov, Azizbek Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm // Mexanika muammolari jurnali. – 2026. – T. 37, № 3.
MLAAkhmatov, Azizbek, Ахматов, А, and Axmatov, Azizbek. “Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm.” Mexanika muammolari jurnali, 37(3), 2026. https://www.pmjournal.uz/index/article/view/19
ChicagoAkhmatov, Azizbek, Ахматов, А, and Axmatov, Azizbek. “Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm.” Mexanika muammolari jurnali, 37(3) (2026). https://www.pmjournal.uz/index/article/view/19
HarvardAkhmatov, Azizbek, Ахматов, А, and Axmatov, Azizbek (2026) ‘Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm’, Mexanika muammolari jurnali, 37(3). https://www.pmjournal.uz/index/article/view/19
BibTeX
@article{akhmatovazizbek2026,
  title = {Solving the problem of stabilizing a given position and programmed motion of an anthropomorphic robotic arm},
  author = {Akhmatov, Azizbek and Ахматов, А and Axmatov, Azizbek},
  journal = {Mexanika muammolari jurnali},
  year = {2026},
  volume = {37},
  number = {3},
  url = {https://www.pmjournal.uz/index/article/view/19}
}

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