Modelling and experimental research of nonholonomic ball gear

• Autorzy: Krysiak B. , Pazderski D. , Kozłowski K.
• Języki publikacji: EN

Abstrakty

EN

The paper considers kinematic and dynamic model of ball gear which can be used in a nonholonomic manipulator. The phase constraints are described and constrained forces and torques are discussed. In order to describe mechanical properties of the gear experimental research were conducted. Based on experimental results maximum driving torque, gear efficiency and resultant slip are estimated.

Słowa kluczowe

EN

nonholonomic constraint; nonholonomic manipulator; kinematics and dynamics

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 3
• Strony: 27--32
• Opis fizyczny: Bibliogr. 5 poz., rys.

Twórcy

autor

Krysiak B.

autor

Pazderski D.

autor

Kozłowski K.

• Chair of Control and Systems Engineering, Poznan University of Technology, ul. Piotrowo 3a, 60–965 Poznań, Poland www: http://control.put.poznan.pl/pl/users/bartlomiejkrysiak,

Bibliografia

• [1] W. Chung. Nonholonomic manipulators. Springer-Verlag, Berlin Heidenberg, 2004.
• [2] A. Mazur and Ł. Nocek. Trajectory tracking for rigid 3-pendulum with nonholonomic gears. In Proc. of the Fith International Workshop on Robot Motion and Control, pages 187–192, June 2005.
• [3] Y. Nakamura, W. Chung, and O. J. Sordalen. Design and control of the nonholonomic manipulator. IEEETransactions on Robotics and Automation, 17(1):48– 59, February 2001.
• [4] D. Pazderski, K. Kozłowski, and K. Krysiak. Nonsmooth stabilizer for three link nonholonomic manipulator using polar-like coordinate representation. In Lecture Notes in Control and Computer Sciences, pages 35–44. Springer-Verlag, Berlin Heidenberg, 2009.
• [5] O. J. Sordalen, Y. Nakamura, and W. Chung. Design of a nonholonomic manipulator. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 8–13, August.