Temat: point stabilization - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Different kinematic controllers stabilizing nonholonomic mobile manipulators of (nh, nh) type about desired configuration
Autorzy:: Mazur, A.
Płaskonka, J.
Powiązania:: https://bibliotekanauki.pl/articles/384796.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: nonholonomic systems
point stabilization
discontinuous control
Opis:: In the paper, a problem of selection of kinematic control algorithm for nonholonomic manipulator has been considered. For a nonholonomic manipulating arm, two kinematic algorithms - Astolfi algorithm (working in closed-loop) and Nakamura, Chung and Sordalen algorithm (working in open loop of control) have been compared. Simulation results have shown that influence of the dynamics on the behavior of mobile manipulator of (nh, nh) type is huge. It means that only kinematic control algorithms using feedback in the control loop are sufficiently robust to apply them in practical applications. Then, for the nonholonomic wheeled mobile platform, Astolfi algorithm, which belongs to discontinuous class of kinematic algorithms, has also been compared to a discontinuous algorithm proposed by Zhang & Hirschorn.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 41-48
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Study of postural adjustments for humanoidal helpmates
Autorzy:: Villalobos, J.
Zielińska, T.
Powiązania:: https://bibliotekanauki.pl/articles/950815.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: centre of mass
zero moment point
anthropometric data
postural stabilization
Opis:: Humanoid robots and humans look alike, and therefore are expected to adjust their posture in a similar way. We analysed a set of human static postures that should be considered for humanoids acting as caretakers. A dynamic situation was studied to learn how humanoids can react in a dynamical way. Human data were obtained with a professional motion capture system and anthropometric tables. The static postures were studied using a segmented human body model, but for motion analysis the single and double pendulums with moving masses were also employed. For robot motion synthesis we need to know the relation between the posture and the postural stability. We have shown that the positions of mass centres of the pendulum segments (which match the human body point masses) are crucial for postural stabilization. The Zero-Moment Point criterion was applied for the dynamic case. The static analysis demonstrates that there are some common features of the postures. The dynamic analysis indicated that both pendulums are good models of human body motion, and are useful for humanoid motion synthesis. In humanoids, it is easier to apply results represented by inverted pendulums than postural models represented by stick diagrams. This is because humanoids and humans do not obviously share the same mass distribution and sizes (proportions) of all body segments. Moreover our descriptions indicate where to locate the supporting leg/legs in single and double support, which in general, is missing in inverted pendulum models discussed in the literature. The paper’s aim is to deepen the knowledge about the adjustment of human postures for the purpose of robotics.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 4; 15-25
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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