Wszystkie pola: robot systems - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: General specification of multi-robot control system structures
Autorzy:: Zieliński, C.
Winiarski, T.
Powiązania:: https://bibliotekanauki.pl/articles/199952.pdf
Data publikacji:: 2010
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: robot control systems
specification of controllers
multi-robot systems
Opis:: The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tiers – the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent’s behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns the multi-robot drawing copying system.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2010, 58, 1; 15-28
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Control of a planar robot in the flight phase using transverse function approach
Autorzy:: Pazderski, D.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/201212.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: transverse functions
hopping robot
space manipulator
nonholonomic system
control motion task
systems on Lie groups
skaczący robot
manipulator przestrzenny
nieholonomiczny układ
Opis:: This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 759-770
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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