Wszystkie pola: nonholonomic manipulator - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Modelling and experimental research of nonholonomic ball gear
Autorzy:: Krysiak, B.
Pazderski, D.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/384790.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: nonholonomic constraint
nonholonomic manipulator
kinematics and dynamics
Opis:: The paper considers kinematic and dynamic model of ball gear which can be used in a nonholonomic manipulator. The phase constraints are described and constrained forces and torques are discussed. In order to describe mechanical properties of the gear experimental research were conducted. Based on experimental results maximum driving torque, gear efficiency and resultant slip are estimated.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 27-32
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:: Position-force control of mobile manipulator – nonadaptive and adaptive case
Autorzy:: Kaczmarek, M.
Domski, W.
Mazur, A.
Powiązania:: https://bibliotekanauki.pl/articles/230067.pdf
Data publikacji:: 2017
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: holonomic constraint
nonholonomic constraint
parametric uncertainty
adaptive control
Opis:: This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.
Źródło:: Archives of Control Sciences; 2017, 27, 4; 487-503
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
Autorzy:: Mazur, A.
Cholewiński, M.
Powiązania:: https://bibliotekanauki.pl/articles/202350.pdf
Data publikacji:: 2016
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: underactuated system
nonholonomic constraint
kinematics
dynamics
kinematyka
dynamika
ograniczenia nieholonomiczne
Opis:: In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 71-80
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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