Autor: Kozłowski, D. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

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

Skocz do pozycji: 2.

Tytuł:: Control of a unicycle-like robot with trailers using transverse function approach
Autorzy:: Pazderski, D.
Kozłowski, K.
Waśkowicz, D.
Powiązania:: https://bibliotekanauki.pl/articles/201599.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: transverse functions
vehicle with trailers
nonholonomic system
control motion task
Lie group
Opis:: The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 557-579
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 3.

Tytuł:: Closed-loop control algorithm for some class of nonholonomic systems using polar representation
Autorzy:: Pazderski, D.
Szulczyński, P.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/201607.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: polar coordinates
nonholonomic system
discontinuous stabilization at the origin
Opis:: This paper is focused on the convergence problem defined for some class of a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved based on a polar transformation which is singular at the origin. The convergence is ensured using static-state feedback. The necessary conditions for construction of the algorithm are formally discussed. The solution, in general, is local, and the feasible domain is strictly related to the properties of the control system. In order to improve algorithm robustness a simple hybrid algorithm is formulated. The general theory is illustrated by two particular systems and the results of numerical simulations are provided.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 521-535
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 4.

Tytuł:: Vision localization system for mobile robot with velocities and acceleration estimator
Autorzy:: Dutkiewicz, P.
Kielczewski, M.
Kozłowski, K.
Pazderski, D.
Powiązania:: https://bibliotekanauki.pl/articles/199936.pdf
Data publikacji:: 2010
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: vision localization system
mobile robot
acceleration estimator
Opis:: The paper presents a localization system for a mobile robot using the vision system and LED markers and considers the problem of velocity and acceleration estimation in the case of planar motions. Theoretical considerations include the principle of measurement and the details of Kalman estimator with illustrations based on experimental setup. The presented measurement system can be used for a realization of advanced control algorithms for skid-steering mobile robots where significant slippage phenomenon appears.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2010, 58, 1; 29-41
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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