The use of the theory of nonholonomic constraints in the process of automatic control of a manipulating machine

• Autorzy: Ładyżyńska-Kozdraś Edyta , Kozłowska Barbara , Potoka Danyil

Identyfikatory

DOI

10.31648/ts.7017

• Języki publikacji: EN

Abstrakty

EN

The presented study contains a sample of utilization of the control laws treated as kinematic relations of parameter deviations and realized in the process of ordered automatic control of a manipulating machine. Movement of the grasping end is considered in an inertial reference standard rigidly joined with an immobile working environment of the manipulator. The specificity of the control’s choice required creating program relations constituting the ordered parameters describing the movement of the manipulator’s elements. During work, the ordered parameters are compared to the parameters realized in the process of the grasping end’s work. This was deviations are determined, which thanks to properly prepared control laws are leveled by the manipulator’s control executive system.

Słowa kluczowe

EN

automatic control; non-holonomic relation; control law; manipulator

• Wydawca: Wydawnictwo Uniwersytetu Warmińsko-Mazurskiego w Olsztynie
• Czasopismo: Technical Sciences / University of Warmia and Mazury in Olsztyn
• Rocznik: 2021
• Tom: nr 24(1)
• Strony: 221--228
• Opis fizyczny: Bibiogr. 15 poz., rys.

Twórcy

autor

Ładyżyńska-Kozdraś Edyta

• Instytut Mikromechaniki i Fotoniki, Wydział Mechatroniki, Politechnika Warszawska, ul. św. Andrzeja Boboli 8, 02-525 Warszawa

• https://orcid.org/0000-0002-4014-6982

autor

Kozłowska Barbara

• Faculty of Mechatronics, Warsaw University of Technology

• https://orcid.org/0000-0003-1869-340X

autor

Potoka Danyil

• Faculty of Mechatronics, Warsaw University of Technology

• https://orcid.org/0000-0002-1359-3509

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)