Geodesic
Game approach for double link manipulator movement
Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 3 (2001), pp. 49-56.

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Game problems for the double link manipulator movement are considered with the use of the extreme targeting method. Problems of rapprochement and deviation of linear systems are investigated. For certainty, two problems of rapprochement of the manipulator grasp to the target set are solved with respect to the speed and coordinates as well as two problems of the deviation from the target set with respect to the speed and coordinates.
Keywords: problems of rapprochement and deviation, extreme targeting method. 
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A. A. Gukasian; T. A. Simonyan. Game approach for double link manipulator movement. Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 3 (2001), pp. 49-56. http://geodesic.mathdoc.fr/item/UZERU_2001_3_a5/

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