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Wyszukujesz frazę "Dyba, Filip" wg kryterium: Autor


Wyświetlanie 1-2 z 2
Tytuł:
The non-orthogonal Serret-Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics
Autorzy:
Mazur, Alicja
Dyba, Filip
Powiązania:
https://bibliotekanauki.pl/articles/27312013.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
backstepping integrator algorithm
holonomic manipulator
non-orthogonal projection
path following
Serret-Frenet parametrization
Opis:
In this paper an application of the Serret-Frenet parametrization of a curve to the path following task is presented. This curvilinear parametrization method is used to obtain a control object description relative to the desired curve defined in the three-dimensional space. In order to derive proper equations, the innovative approach of the non-orthogonal projection of a control object on the given path is investigated. The non-orthogonal projection allows to design a global control algorithm. The proposed solution results in a cascade structure of the control system. Thus, the backstepping integrator algorithm was applied to create a control law. Due to the partial knowledge of control object dynamic parameters, an adaptive algorithm is taken into account. Theoretical considerations are confirmed with simulation study. Conducted simulations illustrated following paths at different levels of complexity by a holonomic non-redundant manipulator with a fixed base.
Źródło:
Archives of Control Sciences; 2023, 33, 2; 339--370
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Active 6 DoF force/torque control based on Dynamic Jacobian for free-floating space manipulator
Autorzy:
Dyba, Filip
Rybus, Tomasz
Wojtunik, Mateusz
Basmadji, Fatina Liliana
Powiązania:
https://bibliotekanauki.pl/articles/27314467.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Centrum Badań Kosmicznych PAN
Tematy:
active force/torque control
free-floating manipulator
Dynamic Jacobian
capture manoeuvre
in-orbit servicing
Opis:
In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed servicing and active debris removal missions. The contact forces between the manipulator end-effector and the elements of the target object will occur in the grasping phase. In this paper, an active 6 Degrees of Freedom (DoF) force/torque control method for manipulator mounted on a free-floating servicing satellite is proposed. The main aim of the presented method is to balance the relation between end-effector position and force along each direction in the Cartesian space. The control law is based on the Dynamic Jacobian, which takes into account the influence of the manipulator motion on the state of the servicing satellite. The proposed approach is validated in numerical simulations with a simplified model of contact. Comparison with the classical Cartesian control shows that the active 6 DoF force/torque control method allows to obtain better positioning accuracy of the end-effector and lower control torques in manipulator joints in the presence of external forces.
Źródło:
Artificial Satellites. Journal of Planetary Geodesy; 2023, 58, Special Issue 1; 214--229
2083-6104
Pojawia się w:
Artificial Satellites. Journal of Planetary Geodesy
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-2 z 2

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