About formation of the stable modes of the movement of multilink mechanical systems

A. S. Gorobtzov1 , E. N. Ryzhov2 , A. S. Polyanina3

1, 2Volgograd State Technical University, Volgograd, Russia

3Kamyshin Technological Institute, State Educational Institution of Higher Education Volgograd State Technical University, Kamyshin, Russia

3Corresponding author

Vibroengineering PROCEDIA, Vol. 8, 2016, p. 522-526.
Received 7 September 2016; accepted 12 September 2016; published 7 October 2016

Copyright © 2016 JVE International Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Creative Commons License

The problem of synthesis of the controlled movement of the stepping robot, the movers of that move on trajectories with the sites, which are close to rectilinear, is considered. Stabilization of movement of points on the movers of stepping robot on a rectilinear trajectory will allow synthesizing algorithm of stepping without jumps of the accelerations in points of change of phases of a support of movers. In this case, under the control object, the point of mover is understood, and the controlled coordinate is a corresponding coordinate of such point.

Keywords: self-oscillations, control, asymptotic stability.


  1. Lyapunov A. The General Problem about Stability of the Movement. Gostekhizdat, Moscow, 1950, (in Russian). [Search CrossRef]
  2. Shabana A. Dynamics of Multibody Systems. Cambridge University Press, New York, NY, 2005. [Search CrossRef]
  3. Fumagalli Alessandro, Gaias Gabriella, Masarati Pierangelo A simple approach to kinematic inversion of redundant mechanisms. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2007, p. 1931-1939. [Search CrossRef]
  4. Gorobtsov A., Ryzhov E., Churzina A. Lame – manifolds in problems of synthesis of nonlinear oscillatory modes. Journal of Vibroengineering, Vol. 10, Issue 4, 2008, p. 456-459. [Search CrossRef]
  5. Gorobtsov A., Ryzhov E., Churzina A. Multipurpose generators of self-oscillations. Izvestia VSTU, Vol. 11, Issue 9, 2009, p. 19-22, (in Russian). [Search CrossRef]
  6. Gorobtsov A., Grigoryeva O., Ryzhov E. Attracting ellipsoids and synthesis of oscillatory regimes. Automation and Remote Control, Vol. 70, Issue 8, 2009, p. 1301-1308. [Search CrossRef]