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Content available Motion planning for task-based motions of mechanical systems based on computationally generated reference dynamics
Jarzębowska Elżbieta, Augustynek Krzysztof, Urbaś Andrzej
Journal of Theoretical and Applied Mechanics
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2024
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Vol. 62 nr 3
615--629
EN
The paper presents a development of a complementary motion planning strategy for task- -based motions for mechanicl systems. The key component of the strategy is a computational procedure for generation of constrained dynamical models, where constraints can be mate- rial or task-based ones and specify work regime requirements. The procedure provides the constrained dynamics, i.e. reference dynamics, whose solutions satisfy all constraints upon systems and enable motion planning. It is a unified tool for constrained motion analysis, mo- tion planning and controller designs. The procedure effectiveness is demonstrated through constrained dynamics generation and motion planning analysis for a robotic system.
2
Content available Dynamics modeling of variable mass systems – a case study of an underwater inertia based propelled glider performance
Kostka Zbigniew, Jarzębowska Elżbieta
Journal of Theoretical and Applied Mechanics
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2024
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Vol. 62 nr 4
751--761
EN
Underwater gliders are autonomous underwater vehicles that are widely used in oceanography and coastal surveillance due to their low manufacturing costs and long operation time. This paper addresses the development of a dynamical model of such vehicles which are inertia propelled. The dynamical model is based upon the Boltzmann-Hamel equations modified to variable mass and inertia systems. It yields dynamics in a body-fixed frame using non-inertial coordinates. The theoretical development of the vehicle dynamics based upon the modified Boltzmann-Hamel equations is validated by the longitudinal dynamics model of the underwater glider and its performance resulted from the mass change.
3
Content available Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
Jarzębowska Elżbieta, Augustynek Krzysztof, Urbaś Andrzej
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2023
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Vol. 71, nr 3
art. no. e144620
EN
The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
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