Antropomorf robot qo‘lining berilgan holatini va dasturlashtirilgan harakatini barqarorlashtirish masalasini yechish

Qabul qilingan: 2026-10-13

Nashr etilgan: 2026-09-30

Annotatsiya

Uch bo‘g‘inli antropomorf robot qo‘li vertikal tekislikda, bo‘g‘inlardagi qovushqoq ishqalanishni hisobga olgan holda harakatlanishi ko‘rib chiqiladi. Faqat bo‘g‘inlarning burilish burchaklari o‘lchanadigan sharoitda berilgan holatni va dasturiy harakatni barqarorlashtirish masalalari yechiladi. Holatni barqarorlashtirish uchun xatolik burchaklari yarmining sinuslari bo‘yicha teskari aloqaga ega nochiziqli PI-regulyator taklif etilgan. Lyapunov funksiyalari yordamida kuchaytirish koeffitsiyentlari va dissipatsiya koeffitsiyenti uchun shunday aniq shartlar olinganki, ular bajarilganda holat har qanday boshlang‘ich og‘ishlarda barqarorlashadi. Bo‘lakli-o‘zgarmas diskret boshqaruv uchun diskretlash qadamining ruxsat etilgan qiymati baholangan. Dasturiy harakatni kuzatish uchun tezliklarni o‘lchashni almashtiruvchi dinamik filtrga ega boshqaruv qonuni ishlab chiqilgan. Aniqlangan shartlar bajarilganda kuzatish xatoligi har qanday boshlang‘ich sharoitlarda 2???? moduli bo‘yicha nolga intilishi isbotlangan. Natijalar sonli modellashtirish orqali tasdiqlangan.

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Mualliflar haqida

Azizbek A.Axmatov
Navoiy davlat universiteti

Litsenziya

Mualliflik huquqi (c) 2026 “Mexanika muammolari” O‘zbekiston jurnali

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Antropomorf robot qo‘lining berilgan holatini va dasturlashtirilgan harakatini barqarorlashtirish masalasini yechish. (2026). “Mexanika Muammolari” O‘zbekiston Jurnali, 37(3). https://pmjournal.uz/jour/article/view/19

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