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

Artykuł

Skocz do pozycji: 2.

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

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