Autor: Tchoń, K. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Robot modelling, perception, and motion synthesis
Autorzy:: Tchoń, K.
Zieliński, C.
Powiązania:: https://bibliotekanauki.pl/articles/384804.pdf
Data publikacji:: 2017
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: robot modelling
perception
motion synthesis
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 3-4
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:: On dynamically consistent Jacobian inverse for non-holonomic robotic systems
Autorzy:: Ratajczak, J.
Tchoń, K.
Powiązania:: https://bibliotekanauki.pl/articles/229326.pdf
Data publikacji:: 2017
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: non-holonomic system
motion
Jacobian inverse
dynamic consistency
metric
motion planning
Opis:: This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI) has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.
Źródło:: Archives of Control Sciences; 2017, 27, 4; 555-573
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Motion planning of the trident snake robot equipped with passive or active wheels
Autorzy:: Paszuk, D.
Tchoń, K.
Pietrowska, Z.
Powiązania:: https://bibliotekanauki.pl/articles/201597.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: trident snake
motion planning
singularities
endogenous configuration space approach
Opis:: We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 547-555
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Approximation of Jacobian inverse kinematics algorithms
Autorzy:: Tchoń, K.
Karpińska, J.
Janiak, M.
Powiązania:: https://bibliotekanauki.pl/articles/929992.pdf
Data publikacji:: 2009
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: kinematyka odwrotna
pseudoodwrotny Jacobian
aproksymacja
robot inverse kinematics
extended Jacobian
Jacobian pseudoinverse
approximation
Opis:: This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 519-531
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Modeling and control of a skid-steering mobile platform with coupled side wheels
Autorzy:: Tchoń, K.
Zadarnowska, K.
Juszkiewicz, Ł.
Arent, K.
Powiązania:: https://bibliotekanauki.pl/articles/953057.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: wheeled mobile platform
dynamics
motion planning
trajectory tracking
koła
platforma mobilna
dynamika
planowanie ruchu
śledzenie trajektorii
Opis:: This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Two Observer-Based Tracking Algorithms for a Unicycle Mobile Robot
Autorzy:: Jakubiak, J.
Lefeber, E.
Tchoń, K.
Nijmeijer, H.
Powiązania:: https://bibliotekanauki.pl/articles/908499.pdf
Data publikacji:: 2002
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: robotyka
observer
trajectory tracking
mobile robot
Opis:: A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2002, 12, 4; 513-522
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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