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Regularization of the movement of a material point along a flat trajectory application to robotics problems

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Document pages: 17 pages

Abstract: The control problem of the working tool movement along a predefinedtrajectory is considered. The integral of kinetic energy and weighted inertiaforces for the whole period of motion is considered as a cost functional. Thetrajectory is assumed to be planar and defined in advance. The problem isreduced to a system of ordinary differential equations of the fourth order.Numerical examples of solving the problem for movement along straight, circularand elliptical trajectories are given.

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