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    Wyświetlanie 1-5 z 5
    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
    Tytuł:
    Constrained Output Iterative Learning Control
    Autorzy:
    Yovchev, Kaloyan
    Delchev, Kamen
    Krastev, Evgeniy
    Powiązania:
    https://bibliotekanauki.pl/articles/229181.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    constrained output systems
    convergence analysis
    iterative learning control
    robot manipulators
    Opis:
    Iterative Learning Control (ILC) is a well-known method for control of systems performing repetitive jobs with high precision. This paper presents Constrained Output ILC (COILC) for non-linear state space constrained systems. In the existing literature there is no general solution for applying ILC to such systems. This novel method is based on the Bounded Error Algorithm (BEA) and resolves the transient growth error problem, which is a major obstacle in applying ILC to non-linear systems. Another advantage of COILC is that this method can be applied to constrained output systems. Unlike other ILC methods the COILC method employs an algorithm that stops the iteration before the occurrence of a violation in any of the state space constraints. This way COILC resolves both the hard constraints in the non-linear state space and the transient growth problem. The convergence of the proposed numerical procedure is proved in this paper. The performance of the method is evaluated through a computer simulation and the obtained results are compared to the BEA method for controlling non-linear systems. The numerical experiments demonstrate that COILC is more computationally effective and provides better overall performance. The robustness and convergence of the method make it suitable for solving constrained state space problems of non-linear systems in robotics.
    Źródło:
    Archives of Control Sciences; 2020, 30, 1; 157-176
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Iterative learning control with sampled-data feedback for robot manipulators
    Autorzy:
    Delchev, K.
    Boiadjiev, G.
    Kawasaki, H.
    Mouri, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/229323.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    sampled-data systems
    iterative learning control
    robot manipulators
    convergence analysis
    Opis:
    This paper deals with the improvement of the stability of sampled-data (SD) feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC) with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more), while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached.
    Źródło:
    Archives of Control Sciences; 2014, 24, 3; 299-319
    1230-2384
    Pojawia się w:
    Archives of Control 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:
    Engineering example of the constraint forces in non-holonomic mechanical: forklift-truck robot motion. Part I
    Autorzy:
    Haddout, S.
    Guennoun, M. A.
    Chen, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/230034.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    forklift-truck robot
    Lagrangian systems
    nonholonomic constraints
    reduced equations of motion
    numerical solution
    Opis:
    In the presented paper, a problem of nonholonomic constrained mechanical systems is treated. New methods in nonholonomic mechanics are applied to a problem of a Forklift-truck robot motion. This method of the geometrical theory of general nonholonomic constrained systems on fibered manifolds and their jet prolongations, based on so-called Chetaev-type constraint forces. The relevance of this theory for general types of nonholonomic constraints, not only linear or affine ones, was then verified on appropriate models. On the other hand, the equations of motion of a Forklift-truck robot are highly nonlinear and rolling without slipping condition can only be expressed by nonholonomic constraint equations. In this paper, the geometrical theory is applied to the above mentioned mechanical problem. The results of numerical solutions of constrained equations of motion, derived within the theory, are presented.
    Źródło:
    Archives of Control Sciences; 2018, 28, 3; 483-506
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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