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Virgala, Ivan; Gmiterko, Alexander; Surovec, Róbert; Vacková, Martina; Prada, Erik; Kenderová, Mária
Procedia engineering, 2012, 2012-00-00, Letnik: 48Journal Article
The paper deals with manipulator end-effector position control. At first the problem of inverse kinematics is introduced. The dynamic model of manipulator by Euler – Lagrange method is derived. In order to achieve required end-effector position the feedback control method is introduced for non-linear differential equations system. In the conclusion all mentioned methods are demonstrated on 2 DOF planar manipulator.
