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Planowanie ruchu robotycznych układów nieholonomicznych z zadaną początkową wartością sterowania

Ratajczak Joanna, Ratajczak Adam

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

179-188

PL

Praca przedstawia algorytm planowania ruchu układów nieholonomicznych, w którym możliwe jest zadanie początkowej wartości funkcji sterującej. Idea algorytmu osadzona jest w teorii endogenicznej przestrzeni konfiguracyjnej. Modyfikacja, umożliwiająca kontrolowanie początkowej wartości sterowania rozwiązującej zadanie planowania ruchu, została uwzględniona przy użyciu koncepcji jakobianu rozszerzonego. Zaproponowane podejście umożliwia łączenie sekwencji ruchów, tak aby funkcje sterujące były ciągłe. Efektywność prezentowanej metodologii została zobrazowana poprzez dwa scenariusze symulacyjne dla modelu monocykla.

EN

The paper presents a new motion planning algorithm for nonholonomic systems that is able to set an initial value of the control function. The idea of the algorithm is embedded into the endogenous configuration space approach. The modification, which controls the initial value of the control function, is built into the algorithm in the sense of the extended jacobian technique. The presented approach allows joining the motion sequence in such a way that the control function is continuous. The efficiency of the proposed method is illustrated with two simulation scenarios for the monocycle.

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Management of age-diverse employees in an organization with hierarchical culture on the example of Aquanet S.A.

Ratajczak Joanna

Zeszyty Naukowe. Organizacja i Zarządzanie / Politechnika Śląska

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2020

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z. 149

531--538

EN

Purpose: Identifying the dependence between the type of organizational culture and the level of the management of employees at different ages. Design/methodology/approach: The method of case study was applied. It has been hypothesized that the best level of managing age in an organization is guaranteed by the clan culture, which assumes cooperation, friendly work atmosphere and partnership, which is part of the assumptions of multigenerational management. Findings: It should be emphasized at this point that the type of organizational culture adopted from above is not always the one that employees of the organization display in their everyday, direct contacts. The level of age management is low in the hierarchy-like type of organizational culture. This does not mean that there cannot be single elements of age management in it. Research limitations/implications: Only one company was studied. In order to generalize research results, it is necessary to conduct research in more organizations. The research was part of the work carried out for the doctoral dissertation entitled "Conditions for managing employees of various age groups in an economic organization". Practical implications: The main recommendation is the introduction of a cafeteria system, in which benefits for individual generations would be available. Originality/value: The article presents the results of research aimed at identifying the dependence between the type of organizational culture and the level of management of employees at different ages.

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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.