A NEW PROCEDURE OF ROBOTS SPATIAL ROTATIONS TERMINAL CONTROL | ||||
| The International Conference on Applied Mechanics and Mechanical Engineering | ||||
| Article 48, Volume 13, 13th International Conference on Applied Mechanics and Mechanical Engineering., May 2008, Page 1-12 PDF (332.91 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/amme.2008.39283 | ||||
 View on SCiNiTO | ||||
| Author | ||||
| MILNIKOV A. | ||||
| Doctor of Sciences, Ph.D., Professor, Dean of the Faculty of Computer Technologies and Engineering of International Black Sea University (D. Aghmashenebelis Kheivani 13km. #2 Tbilisi, Georgia Tel:(+995 32) 595005 Fax: (+995 32) 595008. | ||||
| Abstract | ||||
| ABSTRACT In the article, using spinor representation of orthogonal transformations, the expressions between second order complex unitary transformations matrixes and real orthogonal matrixes of spatial rotations in three dimensional Euclidean space L3 are received, that allows easily calculating of corresponding Euler’s angles. The obtained results have enabled reducing the actually three-dimensional problem of spatial motion control to the one-dimensional problem; control kinematical functions of Euler’s angles and control spinor matrix of rotation were constructed, by means of which control process of spatial rotations is completely determine. | ||||
| Keywords | ||||
| spinors; control spinor matrix, hermitian functionals; orthogonal transformations, Euler’s angles, spatial rotations; terminal control | ||||
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