Wszystkie pola: Skwarek, Wincenty - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Modeling the Kinematics of Two Robots with Denavit–Hartenberg Notation
Autorzy:: Burghardt, Andrzej
Skwarek, Wincenty
Powiązania:: https://bibliotekanauki.pl/articles/1831347.pdf
Data publikacji:: 2020
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: robot formation
kinematics
Denavit-Hartenberg notation
transformation matrix
formacja robota
kinematyka
notacja Denavita-Hartenberga
macierz transformacji
Opis:: This article presents a description and methodology for building a kinematics model for the formation of twowheeled mobile robots transporting a beam using Denavit–Hartenberg notation. The simple and inverse kinematics tasks of this formation were solved. Solutions of kinematics tasks are presented in junction coordinates and global coordinates. The obtained results were simulated using the Matlab–Simulink package together with animation of the solution using a programmed emulator of robot work.
Źródło:: Advances in Manufacturing Science and Technology; 2020, 44, 4; 121-128
0137-4478
Pojawia się w:: Advances in Manufacturing Science and Technology
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Modeling of dynamics of cooperating wheeled mobile robots
Autorzy:: Burghardt, Andrzej
Gierlak, Piotr
Skwarek, Wincenty
Powiązania:: https://bibliotekanauki.pl/articles/2055058.pdf
Data publikacji:: 2021
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: wheeled mobile robots
modeling of dynamics
formation robots
Opis:: The work presents dynamics of a system of two wheeled mobile robots cooperating in the transport of large-size cargo in the form of a beam. The purpose of modeling of such a system was to obtain a mathematical model in an applicable form. Lagrange equations of the second type were used to describe dynamics, and then the projective method was used to eliminate Lagrange multipliers. Thanks to this approach, unknown dry friction forces at the contact points of robot wheels with the ground were eliminated from the description, and dynamics in controllable coordinates was obtained. In addition, the obtained model has structural properties that enable its use in synthesis of a control system based on the mathematical model.
Źródło:: Journal of Theoretical and Applied Mechanics; 2021, 59, 4; 649--659
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

Artykuł

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