Wyniki wyszukiwania - Biblioteka Nauki

1

Neural control of a robotic manipulator in contact with a flexible and uncertain environment

100%

Gierlak P.

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tom Vol. 17, no. 3

435--444

EN

This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot's dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.

2

Position/force control of manipulator in contact with flexible environment

100%

Gierlak P.

Acta Mechanica et Automatica

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2019

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tom Vol. 13, no. 1

16--22

EN

The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.

3

Modeling of dynamics of cooperating wheeled mobile robots

51%

Burghardt A. , Gierlak P. , Skwarek W.

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2021

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tom Vol. 59 nr 4

649--659

EN

The work presents dynamics of a system of two wheeled mobile robots cooperating in the transport of large-size cargo in the form of a beam. The purpose of modeling of such a system was to obtain a mathematical model in an applicable form. Lagrange equations of the second type were used to describe dynamics, and then the projective method was used to eliminate Lagrange multipliers. Thanks to this approach, unknown dry friction forces at the contact points of robot wheels with the ground were eliminated from the description, and dynamics in controllable coordinates was obtained. In addition, the obtained model has structural properties that enable its use in synthesis of a control system based on the mathematical model.

4

The Use of VR to Analyze the Profitability of the Construction of a Robotized Station

45%

Muszyńska M. , Szybicki D. , Gierlak P. , Kurc K. , Burghardt A.

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tom Vol. 44, nr 1

32--37

EN

The development of software applications and the use of VR (Virtual Reality) techniques allow to improve the company’s financial result. The construction of models of robotic stations with robots using Virtual Robot technology allows to determine the time of the machining process. It allows its optimization through the selection of accelerations, tools, tooling strategies, and so on. Determining the time of a technological operation translates into savings. This allows you to decide on the purposefulness of the investment. In addition, modern software add-ons, for example, Signal Analyzer in RobotStudio, allow you to monitor the electricity consumption of a robotic station. The article presents a solution showing how, based on the construction of digital models and the use of VR, we can conclude about the profitability of the investment.

5

Pasywna redukcja drgań wózków kolejki górskiej

38%

Gierlak P. , Burghardt A. , Kurc K. , Szybicki D. , Sitek R. , Goczał M. , Wydrzyński D.

Modelowanie Inżynierskie

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2019

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tom T. 39, nr 70

24--31

PL

Artykuł dotyczy projektowania, testów dynamicznych i badań weryfikacyjnych prototypowej rolki z systemem pasywnej redukcji drgań, przeznaczonej do wózków kolejki górskiej. Projekt rolki został wykonany na podstawie opisu zgłoszenia patentowego nr P.420895 do Urzędu Patentowego Rzeczypospolitej Polskiej dotyczącego wynalazku, jakim jest rolka redukująca drgania do urządzeń obiegowych typu kolejka górska. Dzięki zastosowaniu systemu podatnych łączników obręczy rolki z piastą oraz wkładki z materiału elastycznego uzyskano tłumienie drgań, a tym samym obniżenie poziomu ogólnego drgań, a także wyeliminowano zjawisko drgań samowzbudnych. Przeprowadzono badania weryfikacyjne w rzeczywistych warunkach podczas ruchu kolejki górskiej na torze, których wyniki wykazały redukcję drgań oraz spełnienie warunków wytrzymałościowych wykonanych rolek.

EN

The article concerns the design, dynamic tests and verification tests of a prototype running wheel with a passive vibration reduction system designed for roller coaster cars. The wheel was designed according to Patent Application ref. P.420895 (filed with the Polish Patent Office) concerning the invention of a vibration reducing wheel intended for operation in recirculating motion machines categorized as roller coasters. Thanks to the use of a system of flexible roller rim connectors with a hub and inserts from the elastic material, vibration damping was obtained, and thus the level of general vibration was reduced and the phenomenon of self-excited vibrations was eliminated. Verification tests were performed in real conditions during the roller coaster movement on the track, the results of which showed the reduction of vibrations and the fulfilment of the strength conditions of the wheels.