PL
 |
EN
Preferencje help
Polish version English version Język
Widoczny [Schowaj] Abstrakt
Liczba wyników

Znaleziono wyników: 5

Liczba wyników na stronie
first rewind previous Strona / 1 next fast forward last
Wyniki wyszukiwania
Wyszukiwano:
w słowach kluczowych:  nonholonomic constraint
help Sortuj według:

help Ogranicz wyniki do:
first rewind previous Strona / 1 next fast forward last
1
Content available Position-force control of mobile manipulator – nonadaptive and adaptive case
Kaczmarek M., Domski W., Mazur A.
Archives of Control Sciences
|
2017
|
Vol. 27, no. 4
487--503
EN
This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.
2
Content available Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
Mazur A., Cholewiński M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2016
|
Vol. 64, nr 1
71--80
EN
In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
3
Content available Modelling and experimental research of nonholonomic ball gear
Krysiak B., Pazderski D., Kozłowski K.
Journal of Automation Mobile Robotics and Intelligent Systems
|
2011
|
Vol. 5, No. 3
27-32
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.
4
Content available remote New approach to designing input-output decoupling controllers for mobile manipulators
Mazur A.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2005
|
Vol. 53, nr 1
31-37
EN
Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.
5
Content available remote Control algorithms for the kinematics and the dynamics of mobile manipulators : a comparative study
Mazur A.
Archives of Control Sciences
|
2001
|
Vol. 11, no. 3/4
223-245
EN
In the paper a solution to the trajectory tracking problem of a mobile manipulator has been presented. By the mobile manipulator we mean a holonomic rigid manipulator mounted on a nonholonomic wheeled mobile platform. First, new control algorithms (which are in fact some modifications of known control algorithms for rigid manipulators) for the dynamics of the mobile manipulator have been introduced, and their convergence proved. Next, we show simulation results which illustrate the behaviour of the mobile manipulator subject to a control action using different control algorithms for the dynamics and the kinematics of an RTR manipulator mounted on the platform of the class (2, 0).
first rewind previous Strona / 1 next fast forward last
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.