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Underactuated mechanical systems

An educational module entitled "Underactuated Mechanical Systems" was conducted at the University of Science and Technology “Sirius” from August 29 through September 10. This module is part of the MA course program "Mathematical Robotics and Artificial Intelligence". The program was supported by the state corporation "Rosatom".

Such events are regularly held in the premises of the Sirius University. The employees of the Ural Mathematical Center participated in them more than once. The following persons were given a unique opportunity to master the study program of the module:

• Elena Nikolayevna Pivovarova, Candidate of Science in Physics and Mathematics, Associate Professor at the Department of Theoretical and Experimental Physics of the Udmurt State University;
  
• Anton Vladimirovich Klekovkin, Candidate of Science in Physics and Mathematics, Associate Professor at the Department of Mechatronic Systems of the Kalashnikov Izhevsk State Technical University.

The course is aimed at discussing the problems of searching for, representing and controlling forced motions of underactuated mechanical systems. To illustrate theoretical material, a detailed analysis is provided of examples for planning and control of manipulation motions of bodies, subject to unilateral constraints, by means of a robot arm.