Wyniki wyszukiwania - BazTech

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Adaptive and robust following of 3D paths by holonomic manipulator

Mazur Alicja, Kaczmarek Mirela

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 3

65--77

EN

This paper addresses the problem of the following three-dimensional path by holonomic manipulator with parametric or structural uncertainty in the dynamics. Description of the manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame, which is moving along the curve. The adaptive and robust control laws for a stationary manipulator which ensures realization of the task were specified. Theoretical considerations are supported by the results of computer simulations conducted for an RTR manipulator.

2

Following 3D paths by a manipulator - adaptive case

Mazur Alicja, Kaczmarek Mirela

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

45-58

EN

This paper addresses the problem of following three-dimensional path by holonomic manipulator with parametric uncertainty in the dynamics. Description of the manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame which is moving along the curve. The adaptive control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations are supported by the results computer simulations.

3

Modified position-force control for a manipulator geometrically constrained by round obstacles

Mazur Alicja, Kaczmarek Mirela, Ratajczak Joanna, Domski Wojciech

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 2

60--67

EN

This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.