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Parameter identification of space manipulator’s flexible joint

Wojtunik Mateusz, Basmadji Fatina Liliana, Granosik Grzegorz, Seweryn Karol

Journal of Automation Mobile Robotics and Intelligent Systems

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2023

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Vol. 17, No. 3

78--87

EN

A manipulator mounted on a satellite is often used to perform active debris removal missions. The space manipulator control system needs to take the dynamic model of the satellite‐manipulator system into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modeling of the space manipulator dynamics as well as parameter identification are needed to improve the credibility of the simulation tools. In this paper, we presented the identification of the flexible‐joint space manipulator model based on dynamic equations of motion. Experiments were performed in an emulated microgravity environment using planar air bearings. The arbitrarily selected joint‐space trajectory was performed by the manipulator’s control system. The experiments were repeated multiple times in order to analyze the identification method sensitivity. The identification is based on the Simulink SimMechanics model. Thus, the procedure can be used for any space manipulator without the need to obtain analytical relations for dynamic equations each time. Including joint flexibility and spring viscous damping in the dynamic model allowed it to reflect the experimental measurements better than the reference model could. Identified parameters of the flexible joint have values of the same magnitude as corresponding real system parameters.

2

Application of the KUKA KUBE test-bed for the hardware-in-the-loop validation of the space manipulator control system

Wojtunik Mateusz, Łuczak Piotr, Rybus Tomasz, Granosik Grzegorz

Artificial Satellites : Journal of Planetary Geodesy

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2023

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Vol. 58, Special Issue 1

231--248

EN

The on-ground validation of control systems designed for manipulators working in orbit is very difficult due to the necessity of simulating the microgravity environment on Earth. In this paper, we present the possibilities of utilising the KUKA KUBE test-bed with industrial robots to experimentally verify space systems using hardware-in-the-loop tests. The fixed-base KUKA industrial robot is operated in gravitational environment, while the space system model plant is solved in real time parallel to on-ground experiment. The test-bed measurements are the input of the model plant, and the output of the model is treated as an input for the industrial robot actuation. In the performed experiment, the control system based on the Dynamic Jacobian is validated. The desired point that is reached by the manipulator’s endeffector is constant in the simulated environment and moving with respect to the test-bed frame. The position of the space manipulator’s end-effector is calculated by evaluating dynamics of the satellite in real-time model. The results show that the control system applied to the KUKA robot works correctly. The measurements from the torque sensors mounted in KUKA robot’s joints are in accordance with the simulation results. This fact enhances the possibilities of gravity compensation, thus simulating microgravity environment on the test-bed.

3

Realizacja predefiniowanego planu przez robota mobilnego z wykorzystaniem ROS

Węgierska Agnieszka, Cybulski Bartłomiej, Granosik Grzegorz

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

147-156

PL

W artykule przedstawiono możliwości zwiększenia kontroli nad ruchem robota sterowanego przez standardowe narzędzia pakietu nawigacyjnego ROS, poprzez zlecanie do wykonania zdefiniowanej przez użytkownika ścieżki. Testowane były następujące konfiguracje wspomagające nawigację: predefiniowana ścieżka i korytarz, korytarz i ścieżka wygenerowana przez robota. Niezawodność realizacji planu była testowana przez co najmniej 8 godz. W pracy wstępnie porównano zachowanie planerów TEB, DWA, EBand, zaś w dalszych testach użyto TEB.

EN

This paper presents the possibility of increasing the repeatability of robot motion ROS navigation_stack by commissioning a user-defined path or corridor restricting motion. The following navigation support approaches were tested: predefined path, predefined path and corridor, corridor and path plan created automatically by the robot. The reliability was examinated for at least 8 hours. The behaviour of TEB, DWA and EBand planners was initially compared TED was chosen for long-term navigation tests.

4

Identyfikacja parametrów elastycznego przegubu manipulatora kosmicznego

Wojtunik Mateusz, Basmadji Fatina Liliana, Granosik Grzegorz, Seweryn Karol

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 1

157-168

PL

Wykorzystanie manipulatora umieszczonego na satelicie jest jedną z metod rozpatrywanych w kontekście przeprowadzenia misji usuwania kosmicznych śmieci. Układy sterowania manipulatorami kosmicznymi muszą wykorzystywać model dynamiki ze względu na wpływ ruchu manipulatora na pozycję i orientację satelity serwisowego. Istotne jest więc projektowanie precyzyjnych modeli matematycznych pozwalających na odzwierciedlenie rzeczywistego układu. W tym celu konieczna jest identyfikacja parametrów modelu. W pracy przedstawiona została identyfikacja parametrów elastycznego przegubu manipulatora kosmicznego w oparciu o model dynamiki. Testy wykonano w emulowanych warunkach mikrograwitacji. Wykorzystanie modelu uwzględniającego elastyczność w przegubie pozwoliło na poprawę zgodności pomiędzy symulacją a przebiegami testowymi. Zidentyfikowane parametry osiągają wartości zgodne z rzeczywistymi.

EN

It is considered to use a manipulator mounted on a satellite in order to perform active debris removal missions. Space manipulator control systems need to take dynamic model into account because of the influence of the manipulator motion on the position and attitude of the satellite. Therefore, precise modelling of the system’s dynamics as well as parameter identification are needed in order to reflect the real systems behaviour better. In this paper we presented the identification of the flexible-joint space manipulator model based on dynamic equations of motion. Experiments were performed in emulated microgravity environment using planar air bearings. Including joint flexibility in the dynamic model allowed to reflect the experimental measurements better than the reference model. Identified parameters of the flexible joint have values corresponding to real system parameters.

5

Template chart detection for stoma telediagnosis

Szwoch Mariusz, Zawiślak Rafał, Granosik Grzegorz, Mik-Wojtczak Joanna, Mik Michał

International Journal of Applied Mathematics and Computer Science

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2022

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Vol. 32, no. 1

147--160

EN

The paper presents the concept of using color template charts for the needs of telemedicine, particularly telediagnosis of the stoma. Although the concept is not new, the current popularity and level of development of digital cameras, especially those embedded in smartphones, allow common and reliable remote advice on various medical problems, which can be very important in the case of limitations in a physical contact with a doctor. The article focuses on the initial stages of photo processing for the needs of telemedicine, i.e., on the assumptions and the process of designing the appropriate template and detecting it in photos for stoma telediagnosis. Research on the developed algorithms for the location of fiducial markers and reference color fields, carried out on the basis of over 2,000 photos, showed a very high tolerance to scene exposure, lighting conditions and the camera used. The obtained results allowed the initial image intensity normalization of the stoma area as well as correct localization and measurement of changes detected on the skin and the mucosa, which, in the opinion of doctors, significantly increased the diagnostic value of the photographs.

6

Modularny system napędowy dla silników bezszczotkowych z interfejsem użytkownika opartym na rozwiązaniach Open Source

Wroński Damian, Granosik Grzegorz

Przegląd Elektrotechniczny

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2020

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R. 96, nr 7

92--96

PL

Artykuł przedstawia modularny system napędowy przeznaczony dla silników bezszczotkowych z przykładowo zaimplementowanym sterowaniem polowo-zorientowanym i komunikacją USB z komputerem PC. Projekt interfejsu graficznego opartego na darmowym środowisku Scilab-Xcos służy do testowania sterowania silnikami i może być alternatywą dla tworzenia własnego oprogramowania interfejsu graficznego, który zwykle jest dostarczany z rozwiązaniami komercyjnymi. Oprogramowanie było testowane zarówno w środowisku Windows, jak i Linux. Badania dotyczyły regularności odmierzania czasu oraz opóźnień komunikacyjnych, a także ogólnej funkcjonalności interfejsu do konfiguracji układu sterowania i możliwości wizualizacji przebiegów zmiennych. Pokazano możliwość strojenia regulatorów oraz podglądu pracy układu w różnych trybach funkcjonalności typowe dla sterowników komercyjnych.

EN

This paper presents modular drive system for brushless motors with Field Oriented Control algorithm and USB communication implemented. Graphical user interface based on Open Source Scilab-Xcos was used for configuration and testing purposes, and could be an alternative for custom software usually provided with commercial controllers. Developed software was tested on both Windows and Linux operating systems. We have verified time base and delays for various configurations, as well as general functionality of user interface. Configuration of the controllers and data visualization is very intuitive and fully resembles options available in commercial products.

7

Using LabVIEW and ros for planning and coordination of robot missions, the example of ERL emergency robots and university rover challenge competitions

Węgierska Agnieszka, Andrzejczak Kacper, Kujawiński Mateusz, Granosik Grzegorz

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 2

68--81

EN

The article presents the main functionalities and principles for operating a software for multi-robotic mission coordination developed for competitions ERL Emergency Robots 2017, as well as its adaptation during University Rover Challenge. We have started with an overview of similar software used in commercial applications or developed by other research groups. Then, our solution is thoroughly described, with its user interface made in LabVIEW and the communication layer based on ROS software. Two cases of robotic competitions proved our software to be useful both for planning and for managing the mission. The system supports the operator in teleoperation and during partial autonomy of the robots. It offers reporting on the robots’ positions, Points of Interest (POI), tasks status. Reports are generated in KML/KMZ formats, and allow us to replay the mission, and analyze it.

8

Evaluation of simple microphone-based mechanomyography (MMG) probe sets for hand stiffness classification

Zubrycki Igor, Granosik Grzegorz

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 2

28--39

EN

We describe simple to build mechanomyography sensors, with one or two channels, based on electret microphones. We evaluate their application as a source of information about the operator’s hand stiffness, which can be used for changing a robot’s gripper stiffness during teleoperation. We explain a data acquisition procedure for further employment of a machine-learning. Finally, we present the results of three experiments and various machine learning algorithms. support vector classification, random forests, and neural-network architectures (fullyconnected articial neural networks, recurrent, convolutional) were compared in two experiments. In first and second, two probes were used with a single participant, with probes displaced during learning and testing to evaluate the influence of probe placement on classifcation. In the third experiment, a dataset was collected using two probes and seven participants. As a result of the singleprobe tests, we achieved a (binary) classification accuracy of 94 % during the multi-probe tests, large crossparticipant differences in classifcation accuracy were noted, even when normalizing per-participant.