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Other literature type . 2016

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Ð Ð°Ð·Ñ€Ð°Ð±Ð¾Ñ‚ÐºÐ° Ð°Ð»Ð³Ð¾Ñ€Ð¸Ñ‚Ð¼Ð¾Ð² Ð¿Ð¾Ð·Ð¸Ñ†Ð¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑƒÐ¿Ñ€Ð°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ»ÐµÐºÑ‚Ñ€Ð¾Ð¿Ñ€Ð¸Ð²Ð¾Ð´Ð°Ð¼Ð¸ Ð´Ð²ÑƒÑ Ð·Ð²ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑƒÐ»ÑÑ‚Ð¾Ñ€Ð° Ñ ÑƒÐ¿Ñ€ÑƒÐ³Ð¸Ð¼Ð¸ ÑÐ²ÑÐ·ÑÐ¼Ð¸

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descriptionPublicationkeyboard_double_arrow_right Other literature type 01 Jan 2016 Russian Publisher:Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾

doi: 10.18720/spbpu/2/v16-1649

Ð Ð°Ð·Ñ€Ð°Ð±Ð¾Ñ‚ÐºÐ° Ð°Ð»Ð³Ð¾Ñ€Ð¸Ñ‚Ð¼Ð¾Ð² Ð¿Ð¾Ð·Ð¸Ñ†Ð¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑƒÐ¿Ñ€Ð°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ»ÐµÐºÑ‚Ñ€Ð¾Ð¿Ñ€Ð¸Ð²Ð¾Ð´Ð°Ð¼Ð¸ Ð´Ð²ÑƒÑ Ð·Ð²ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¼Ð°Ð½Ð¸Ð¿ÑƒÐ»ÑÑ‚Ð¾Ñ€Ð° Ñ ÑƒÐ¿Ñ€ÑƒÐ³Ð¸Ð¼Ð¸ ÑÐ²ÑÐ·ÑÐ¼Ð¸

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Abstract

Ð’ Ñ€Ð°Ð¼ÐºÐ°Ñ… Ð¼Ð°Ð³Ð¸ÑÑ‚ÐµÑ€ÑÐºÐ¾Ð¹ Ð´Ð¸ÑÑÐµÑ€Ñ‚Ð°Ñ†Ð¸Ð¸ Ð±Ñ‹Ð» Ñ€Ð°Ð·Ñ€Ð°Ð±Ð¾Ñ‚Ð°Ð½ Ð°Ð»Ð³Ð¾Ñ€Ð¸Ñ‚Ð¼ Ð¿Ð¾Ð·Ð¸Ñ†Ð¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÑƒÐ¿Ñ€Ð°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ»ÐµÐºÑ‚Ñ€Ð¾Ð¿Ñ€Ð¸Ð²Ð¾Ð´Ð°Ð¼Ð¸ Ð´Ð»Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð°Ð½Ð¸Ð¿ÑƒÐ»ÑÑ‚Ð¾Ñ€Ð° Ð¢Ð£Ð -10Ðš Ñ ÑÐ¸ÑÑ‚ÐµÐ¼Ð¾Ð¹ ÐºÐ¾Ð¼Ð¿ÐµÐ½ÑÐ°Ñ†Ð¸Ð¸ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ ÑƒÐ¿Ñ€ÑƒÐ³Ð¸Ñ… ÑÐ²ÑÐ·ÐµÐ¹ Ð² ÑÐ¾Ñ‡Ð»ÐµÐ½ÐµÐ½Ð¸ÑÑ…, Ð¿Ñ€Ð¾Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð»ÑƒÑ‡ÐµÐ½Ð½Ñ‹Ñ… Ñ€ÐµÐ·ÑƒÐ»ÑŒÑ‚Ð°Ñ‚Ð¾Ð² Ñ€Ð°Ð±Ð¾Ñ‚Ñ‹. Ð’ Ð´Ð¸ÑÑÐµÑ€Ñ‚Ð°Ñ†Ð¸Ð¸ Ñ‚Ð°ÐºÐ¶Ðµ Ñ€Ð°ÑÑÐ¼Ð°Ñ‚Ñ€Ð¸Ð²Ð°ÑŽÑ‚ÑÑ Ð²Ð¾Ð¿Ñ€Ð¾ÑÑ‹: 1) Ð Ð°Ð·Ñ€Ð°Ð±Ð¾Ñ‚ÐºÐ° Ð´Ð¸Ð½Ð°Ð¼Ð¸Ñ‡ÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼Ð°Ð½Ð¸Ð¿ÑƒÐ»ÑÑ‚Ð¾Ñ€Ð°; 2) Ð˜ÑÐ¿Ð¾Ð»ÑŒÐ·Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð´Ð°Ñ‚Ñ‡Ð¸ÐºÐ° ÑƒÑÐºÐ¾Ñ€ÐµÐ½Ð¸Ñ; 3) Ð Ð°Ð·Ñ€Ð°Ð±Ð¾Ñ‚ÐºÐ° Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð³Ð¾ Ñ€ÐµÐ³ÑƒÐ»ÑÑ‚Ð¾Ñ€Ð°.

As part of the master thesis was developed positional control algorithm for electric models TOUR-10K manipulator system with the effect of elastic connections compensation articulated, analyzed the results obtained.The thesis also deals with: 1) Development of a dynamic model of the manipulator; 2) Using the acceleration sensor; 3) The development of non-linear regulator.

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ÐÐ¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ, ÐÐ»ÐµÐºÑÑÐ¾Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ, Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ

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	citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	0
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