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Tytuł:
Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage
Autorzy:
Jaskot, Anna
Posiadała, Bogdan
Powiązania:
https://bibliotekanauki.pl/articles/2086885.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion dynamics
wheel slippage
wheeled mobile platform
equations of motion
dynamika ruchu
poślizg kół
kołowa platforma mobilna
równania ruchu
Opis:
In the article the results of simulation and experimental studies of the movement of a four-wheeled mobile platform, taking into account wheel slip have been presented. The simulation results have been based on the dynamics of the four-wheel mobile platform. The dynamic model of the system motion takes into account the relationship between the active and passive forces accompanying the platform motion, especially during wheel slip. The formulated initial problem describing the motion of the system has been solved by the Runge-Kutta method of the fourth order. The proposed computational model including the platform dynamics model has been verified in experimental studies using the LEO Rover robot. The motion parameters obtained on the basis of the adopted computational model in the form of trajectories, velocities and accelerations have been compared with the results of experimental tests, and the results of this comparison have been included in the paper. The proposed computational model can be useful in various situations, e.g., real-time control, where models with a high degree of complexity are useless due to the computation time. The simulation results obtained on the basis of the proposed model are sufficiently compatible with the results of experimental tests of motion parameters obtained for the selected type of mobile robot.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e139205, 1--7
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Mechatronic system for verticalization and aiding the motion of the disabled
Autorzy:
Jasińska-Choromańska, D.
Szykiedans, K.
Wierciak, J.
Kołodziej, D.
Zaczyk, M.
Bagiński, K.
Bojarski, M.
Kabziński, B.
Powiązania:
https://bibliotekanauki.pl/articles/202042.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
orthotic robots
aiding the human motion
mechatronic systems
Opis:
Mechatronics is nowadays a dominating concept in design of various kinds of systems and technical devices. High speeds of data processing by control units of mechatronic systems, as well as high dynamics of their actuators allow the systems to be applied in wider fields. This refers to the medicine as well, especially while making attempts to replace lost human motor abilities by means of robots aiding the man. These devices can be divided into three groups: exoskeletons designed to strengthen the natural force of human muscles, orthotic robots that restore lost or weakened functions of human limbs, and prosthetic robots replacing an amputated limb. The first and the third group are known quite well, whereas the orthotic robots are at an initial phase of their development. The authors have worked on a device for aiding the motion of disabled people suffering from paresis of the lower limbs. The paper presents a concept and a structure of the system that has been created, comparing it with similar devices that have already existed. There are indicated some connections and areas where the subunits merge, as well as the rules of their working with the user.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 2; 419-431
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints
Autorzy:
Kabziński, J.
Mosiołek, P.
Powiązania:
https://bibliotekanauki.pl/articles/201256.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion control
nonlinear control
adaptive control
state constraints
Opis:
The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 5; 963--971
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Impact of control representations on efficiency of local nonholonomic motion planning
Autorzy:
Duleba, I.
Powiązania:
https://bibliotekanauki.pl/articles/202269.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion planning
nonholonomic systems
Lie-algebraic methods
controllability
optimization
Opis:
In this paper various control representations selected from a family of harmonic controls were examined for the task of locally optimal motion planning of nonholonomic systems. To avoid dependence of results either on a particular system or a current point in a state space, considerations were carried out in a sub-space of a formal Lie algebra associated with a family of controlled systems. Analytical and simulation results are presented for two inputs and three dimensional state space and some hints for higher dimensional state spaces were given. Results of the paper are important for designers of motion planning algorithms not only to preserve controllability of the systems but also to optimize their motion.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 2; 213-218
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motion planning of the trident snake robot equipped with passive or active wheels
Autorzy:
Paszuk, D.
Tchoń, K.
Pietrowska, Z.
Powiązania:
https://bibliotekanauki.pl/articles/201597.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
trident snake
motion planning
singularities
endogenous configuration space approach
Opis:
We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 547-555
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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
Tytuł:
Effect of the mathematical model and integration step on the accuracy of the results of computation of artillery projectile flight parameters
Autorzy:
Baranowski, L.
Powiązania:
https://bibliotekanauki.pl/articles/201368.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
exterior ballistics
fight dynamics
equations of motion of the projectile
mathematical model
Opis:
In the paper the three different mathematical models of motion of a spin-stabilized, conventional artillery projectile, possessing at least trigonal symmetry, have been introduced. The vector six-degrees-of-freedom (6-DOF) differential equations of motion are an updated edition of those published by Lieske and McCoy and are consistent with STANAG 4355 (Ed. 3). The mathematical models have been used to developing software for simulating the flight of the Denel 155mm Assegai M2000 series artillery projectile and to conduct comprehensive research of the influence of the applied model and integration step on the accuracy and time of computation of projectile trajectory.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 2; 475-484
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Explicit form of the “modified point mass trajectory model” for the use in Fire Control Systems
Autorzy:
Baranowski, L.
Majewski, P.
Szymonik, J.
Powiązania:
https://bibliotekanauki.pl/articles/200333.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
ballistics
equations of motion
projectile path
modified point mass trajectory model
MPMTM
projectile deflection
Opis:
The main objective of this article is to obtain equations of motion of the spin–stabilized projectile in the presence of non–constant wind. Introducing models allowing utilization of inhomogeneous wind is dictated by new possibilities created by the use of e.g. lidars in the Fire Control Systems (FCS). Constant feed of wind data can replace meteorological messages, increasing the FCS effectiveness. Article contains results of projectile flight simulations which indicate the positive effect that the derived explicit form of the model has when considering software development for modern Fire Control Systems.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 5; 1167-1175
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Quasi-analytical solutions for the whirling motion of multi-stepped rotors with arbitrarily distributed mass unbalance running in anisotropic linear bearings
Autorzy:
Klanner, Michael
Prem, Marcel S.
Ellermann, Katrin
Powiązania:
https://bibliotekanauki.pl/articles/2090677.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Numerical Assembly Technique
rotor dynamics
whirling motion
unbalanced response
quasi-analytical solution
dynamika wirnika
ruch wirowy
Opis:
Vibration in rotating machinery leads to a series of undesired effects, e.g. noise, reduced service life or even machine failure. Even though there are many sources of vibrations in a rotating machine, the most common one is mass unbalance. Therefore, a detailed knowledge of the system behavior due to mass unbalance is crucial in the design phase of a rotor-bearing system. The modelling of the rotor and mass unbalance as a lumped system is a widely used approach to calculate the whirling motion of a rotor-bearing system. A more accurate representation of the real system can be found by a continuous model, especially if the mass unbalance is not constant and arbitrarily oriented in space. Therefore, a quasi-analytical method called Numerical Assembly Technique is extended in this paper, which allows for an efficient and accurate simulation of the unbalance response of a rotor-bearing system. The rotor shaft is modelled by the Rayleigh beam theory including rotatory inertia and gyroscopic effects. Rigid discs can be mounted onto the rotor and the bearings are modeled by linear translational/rotational springs/dampers, including cross-coupling effects. The effect of a constant axial force or torque on the system response is also examined in the simulation.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e138999, 1--10
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
35 mm ammunition’s trajectory model identification based on firing tables
Autorzy:
Baranowski, L.
Gadomski, B.
Majewski, P.
Szymonik, J.
Powiązania:
https://bibliotekanauki.pl/articles/200598.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
identification
exterior ballistics
equations of projectile motion
curve fitting
drag coefficient
identyfikacja
ruch pocisku
współczynnik oporu
Opis:
The article presents a procedure designed for identification of projectile’s trajectory model through aerodynamic coefficients estimation. The identification process is based on firing tables artificially prepared (firing tables prepared using mathematical flight model for the projectile instead of trajectories recorded on field tests) with the use of modified point–mass and rigid body trajectory models. All the necessary data, including physical parameters of the projectile and its aerodynamic characteristics are provided. The detailed results of estimation of chosen aerodynamic coefficients are presented in both visual and tabular form. The main purpose of this paper is to establish the minimum number of trajectories (as characterized in firing tables), and the permissible error of initial parameters being passed to the mathematical model that would allow the correct identification of projectile’s trajectory model.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 5; 635-643
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modeling and control of a skid-steering mobile platform with coupled side wheels
Autorzy:
Tchoń, K.
Zadarnowska, K.
Juszkiewicz, Ł.
Arent, K.
Powiązania:
https://bibliotekanauki.pl/articles/953057.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheeled mobile platform
dynamics
motion planning
trajectory tracking
koła
platforma mobilna
dynamika
planowanie ruchu
śledzenie trajektorii
Opis:
This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Vertical vibrations of composite bridge/track structure/high-speed train systems. Part 2: Physical and mathematical modelling
Autorzy:
Podworna, M.
Klasztorny, M.
Powiązania:
https://bibliotekanauki.pl/articles/200194.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
composite steel-concrete bridge
ballasted track structure
high-speed train
random track irregularities
FE modelling
equations of motion
Opis:
A theory of one-dimensional physical and mathematical modelling of the composite (steel-concrete) bridge/track structure/highspeed train system is developed including viscoelastic suspensions of rail-vehicles with two two-axle bogies each, non-linear Hertz contact stiffness and one-sided contact between wheel sets and rails, the viscoelastic and inertia features of the bridge, the viscoelastic track structure on and beyond the bridge, approach slabs, and random vertical track irregularities. Compared to the state-of-the-art, the physical model developed in the study accurately reproduces dynamic processes in the considered system. Division of the system into the natural subsystems, a method of formulation of the equations of motion partly in implicit form and the finite element method are applied. Vibrations in the vertical plane of symmetry are described by more than nine matrix equations of motion with constant coefficients. Couplings and non-linearity are hidden in the generalized load vectors. The equations of motion are integrated using the implicit Newmark average acceleration method with linear extrapolation of the interactions between the subsystems.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 181-196
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Explicit “ballistic M-model”: a refinement of the implicit “modified point mass trajectory model”
Autorzy:
Baranowski, L.
Gadomski, B.
Majewski, P.
Szymonik, J.
Powiązania:
https://bibliotekanauki.pl/articles/202089.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
ballistics
equations of motion
projectile path
modified point mass trajectory model
MPMTM
projectile deflection
balistyka
równania ruchu
lot pocisku
Opis:
Various models of a projectile in a resisting medium are used. Some are very simple, like the “point mass trajectory model”, others, like the “rigid body trajectory model”, are complex and hard to use, especially in Fire Control Systems due to the fact of numeric complexity and an excess of less important corrections. There exist intermediate ones - e.g. the “modified point mass trajectory model”, which unfortunately is given by an implicitly defined differential equation as Sec. 1 discusses. The main objective of this paper is to present a way to reformulate the model obtaining an easy to solve explicit system having a reasonable complexity yet not being parameter-overloaded. The final form of the M-model, after being carefully derived in Sec. 2, is presented in Subsec. 2.5.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 81-89
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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
Tytuł:
On axisymmetrical boundary problem of unsteady motion of micropolar fluid in the half-space
Autorzy:
El-Sirafy, I. H.
Aboutahoun, A. W.
Powiązania:
https://bibliotekanauki.pl/articles/200251.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
micropolar fluid
axisymmetrical motion
Laplace-Hankel transforms
problem brzegowy
płyn mikropolarny
transformacja Laplace'a
transformacja Hankela i Laplace'a
warunek brzegowy Hankela
Opis:
The aim of this paper is developing an exact solution for the problem of axisymmetrical flow of unsteady motion of micropolar fluid in the half-space when the shear stresses are given on the boundary. The Laplace-Hankel transform technique is used to solve this problem. Some physical quantities such as velocities, pressure and microrotations are obtained and illustrated numerically.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 51-62
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 19

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