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Analiza mocy obliczeniowej platform sprzętowych dla algorytmu sterowania robota hybrydowego

Gac Konrad, Petko Maciej

Przegląd Elektrotechniczny

2022

R. 98, nr 7

42--49

W artykule opisano konstrukcję pięcioosiowego robota hybrydowego składającego się z manipulatora równoległego i szeregowego, do budowy których, wykorzystano napędy PMSM. Zaprezentowano przyjęty model dynamiki robota oraz rozwiązanie zadania odwrotnego kinematyki wraz z pochodnymi. W wybranych platformach sprzętowych, typu FPGA i DSP, zaimplementowano algorytm śledzenia trajektorii układu sterowania robotem. Wyniki przeprowadzonych testów pozwoliły na analizę mocy obliczeniowej układów, i ich porównanie.

The article describes the assembly of a five-axis hybrid robot consisting of the parallel and the serial manipulator, for the construction of which Permanent Magnet Synchronous Motor (PMSM) were used. The adopted model of robot dynamics and the solution of the task of inverse kinematics with derivatives are presented. In selected hardware platforms, such as FPGA and DSP, the trajectory tracking algorithm of the robot control system has been implemented. The results of the tests carried out enabled the analysis of the computing power of the systems and their comparison.

Vibration impact on people transported by mining belt conveyors

Góra Grzegorz, Iwaniec Marek, Kulinowski Piotr, Gac Konrad

Vibrations in Physical Systems

2020

Vol. 31, nr 1

art. no. 2020109

The paper presents the description and results of experimental research whose purpose was to analyze the vibration influence the miner's body during riding on a belt conveyor for transporting coal. The transport of people on mining belt conveyors is a commonly used method to increase mining efficiency and improve a mine's profitability. The paper presents an assessment of safety and comfort parameters used in transporting people, the effect of strong vibrations on the human body and its internal organs, the measuring system used to record the accelerations during the experiment and the measurement results. The recorded data enabled a dynamic analysis of the movement and an assessment of safety and comfort of transported miners on the basis of defined indicators. The data included the accelerations from the moment of getting on the conveyor belt to the moment of going down onto the platform. The tests were carried out for two different belt conveyor speeds, which allowed to assess how conveyor speed affects safety and comfort of people transported on the mining belt conveyor.