Temat: nonholonomic - 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:: Different kinematic controllers stabilizing nonholonomic mobile manipulators of (nh, nh) type about desired configuration
Autorzy:: Mazur, A.
Płaskonka, J.
Powiązania:: https://bibliotekanauki.pl/articles/384796.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: nonholonomic systems
point stabilization
discontinuous control
Opis:: In the paper, a problem of selection of kinematic control algorithm for nonholonomic manipulator has been considered. For a nonholonomic manipulating arm, two kinematic algorithms - Astolfi algorithm (working in closed-loop) and Nakamura, Chung and Sordalen algorithm (working in open loop of control) have been compared. Simulation results have shown that influence of the dynamics on the behavior of mobile manipulator of (nh, nh) type is huge. It means that only kinematic control algorithms using feedback in the control loop are sufficiently robust to apply them in practical applications. Then, for the nonholonomic wheeled mobile platform, Astolfi algorithm, which belongs to discontinuous class of kinematic algorithms, has also been compared to a discontinuous algorithm proposed by Zhang & Hirschorn.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 41-48
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: 3.

Tytuł:: Robotic swarm self-organisation control
Autorzy:: Hendzel, Zenon
Wiech, Jakub
Powiązania:: https://bibliotekanauki.pl/articles/387481.pdf
Data publikacji:: 2019
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: swarm robotics self-organization
PD controller
nonholonomic robots
Opis:: This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.
Źródło:: Acta Mechanica et Automatica; 2019, 13, 2; 130-134
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

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: 5.

Tytuł:: Impact of control representations on efficiency of local nonholonomic motion planning
Autorzy:: Duleba, I.
Powiązania:: https://bibliotekanauki.pl/articles/202269.pdf
Data publikacji:: 2011
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: motion planning
nonholonomic systems
Lie-algebraic methods
controllability
optimization
Opis:: In this paper various control representations selected from a family of harmonic controls were examined for the task of locally optimal motion planning of nonholonomic systems. To avoid dependence of results either on a particular system or a current point in a state space, considerations were carried out in a sub-space of a formal Lie algebra associated with a family of controlled systems. Analytical and simulation results are presented for two inputs and three dimensional state space and some hints for higher dimensional state spaces were given. Results of the paper are important for designers of motion planning algorithms not only to preserve controllability of the systems but also to optimize their motion.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2011, 59, 2; 213-218
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:: Closed-loop control algorithm for some class of nonholonomic systems using polar representation
Autorzy:: Pazderski, D.
Szulczyński, P.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/201607.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: polar coordinates
nonholonomic system
discontinuous stabilization at the origin
Opis:: This paper is focused on the convergence problem defined for some class of a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved based on a polar transformation which is singular at the origin. The convergence is ensured using static-state feedback. The necessary conditions for construction of the algorithm are formally discussed. The solution, in general, is local, and the feasible domain is strictly related to the properties of the control system. In order to improve algorithm robustness a simple hybrid algorithm is formulated. The general theory is illustrated by two particular systems and the results of numerical simulations are provided.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 521-535
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: 7.

Tytuł:: Payload Maximization for Mobile Flexible Manipulators in Environment with an Obstacle
Autorzy:: Heidari, H.
Haghpanahi, M.
Korayem, M. H.
Powiązania:: https://bibliotekanauki.pl/articles/279299.pdf
Data publikacji:: 2015
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: flexible link
nonholonomic mobile manipulator
optimal control
obstacle
path planning
Opis:: A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. The full dynamic model of a wheeled mobile base and the mounted flexible manipulator is considered with respect to dynamics of non-holonomic constraint in environment including an obstacle. In dynamical analysis, an efficient model is employed to describe the treatment of a flexible structure in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution to the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and the proposed approach on mobile flexible manipulators.
Źródło:: Journal of Theoretical and Applied Mechanics; 2015, 53, 4; 911-923
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Trajectory reproduction and trajectory tracking problem for the nonholonomic systems
Autorzy:: Ratajczak, A.
Powiązania:: https://bibliotekanauki.pl/articles/200125.pdf
Data publikacji:: 2016
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: nieholonomiczny układ
śledzenie trajektorii
trajectory reproduction
trajectory tracking
nonholonomic system
Opis:: This paper introduces a new algorithm of trajectory reproduction and trajectory tracking for nonholonomic systems. The endogenous configuration space approach is employed as a guideline in the algorithm derivation. The derivation uses a trajectory reproduction error, which is an integral of the difference between the resultant trajectory and the desired trajectory over the motion horizon. Such a definition of the error allows to solve both the trajectory reproduction as well as the trajectory tracking problem. Considerable attention in the paper has been paid to the implementation aspects of the algorithm. The nonparametric approach is used together with a higher order of the integration method. The algorithm efficiency is illustrated with computer simulations accomplished for two nonholonomic systems: the dynamics of the double pendulum with a passive joint, and the kinematics of the unicycle.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 63-70
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: 9.

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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Skocz do pozycji: 10.

Tytuł:: Small time local controllability of driftless nonholonomic systems in a task-space
Autorzy:: Duleba, Ignacy
Mielczarek, Arkadiusz
Powiązania:: https://bibliotekanauki.pl/articles/229672.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: nonholonomic system
small time local controllability
configuration space
task-space
Opis:: In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implcations. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages.
Źródło:: Archives of Control Sciences; 2019, 29, 3; 423-436
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
Autorzy:: Srebro, A.
Powiązania:: https://bibliotekanauki.pl/articles/115515.pdf
Data publikacji:: 2011
Wydawca:: Fundacja na Rzecz Młodych Naukowców
Tematy:: fuzzy controller
mobile robot
nonholonomic system
trajectory tracking
fault tolerance
Opis:: This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.
Źródło:: Challenges of Modern Technology; 2011, 2, 4; 11-20
2082-2863
2353-4419
Pojawia się w:: Challenges of Modern Technology
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: A self-stabilising multipurpose single-wheel robot
Samostabilizujący się uniwersalny jednokołowy robot
Autorzy:: Buratowski, T.
Cieślak, P.
Giergiel, M.
Uhl, T.
Powiązania:: https://bibliotekanauki.pl/articles/281977.pdf
Data publikacji:: 2012
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: single-wheel robot
nonholonomic single-wheel robot
stabilization
control design
Opis:: This article presents a design process of a single-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in the single-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.
Praca przedstawia zgłoszoną do opatentowania konstrukcję jednokołowego robota anholonomicznego, wyposażonego w układ sterowania oraz system stabilizacji bazujący na budowie odwróconego wahadła fizycznego.
Źródło:: Journal of Theoretical and Applied Mechanics; 2012, 50, 1; 99-118
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

Tytuł:: Gain design of quasi-continuous exponential stabilizing controller for a nonholonomic mobile robot
Autorzy:: Nonaka, S.
Tsujimura, T.
Izumiya, K.
Powiązania:: https://bibliotekanauki.pl/articles/91862.pdf
Data publikacji:: 2016
Wydawca:: Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
Tematy:: gain design
nonholonomic canonical form
exponential stabilized control
mobile robot
Opis:: The control of nonholonomic canonical form using an invariant manifold is investigated to apply to a mobile robot steered by two independent driving wheels. A quasi-continuous exponential stabilizing controller is designed by using another input pattern. Additionally, the control gain designing method is proposed for this controller. Modified error system of nonholonomic double integrator model is used as nonholonomic canonical form. Generally, the gain cannot be calculated due to the non-linear transform of system. Owing to complicated relation of several parameters, the controller behavior is inconstant by gain pattern. We propose a method of designing gain which uses desired settling time. An approximate equation to obtain designed gains is derived based on the evaluation function. The design method to determine gains of the assumed actual system is simulated. The effectiveness of the proposed method is confirmed by these simulations.
Źródło:: Journal of Artificial Intelligence and Soft Computing Research; 2016, 6, 3; 189-200
2083-2567
2449-6499
Pojawia się w:: Journal of Artificial Intelligence and Soft Computing Research
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 14.

Tytuł:: Motion planning for nonholonomic systems with earlier destination reaching
Autorzy:: Ratajczak, A.
Powiązania:: https://bibliotekanauki.pl/articles/230046.pdf
Data publikacji:: 2018
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: motion planning
nonholonomic
endogenous configuration space
homotopy
continuation
earlier destination reaching
Opis:: The motion planning problem consists in finding a control function which drives the system to a desired point. The motion planning algorithm derived with an endogenous configuration space approach assumes that the motion takes place in an arbitrary chosen time horizon. This work introduces a modification to the motion planning algorithm which allows to reach the destination point in time, which is shorter than the assumed time horizon. The algorithm derivation relies on the endogenous configuration space approach and the continuation (homotopy) method. To achieve the earlier destination reaching a new formulation of the task map and the task Jacobian are introduced. The efficiency of the new algorithm is depicted with simulation results.
Źródło:: Archives of Control Sciences; 2018, 28, 2; 269-283
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: Control of a unicycle-like robot with trailers using transverse function approach
Autorzy:: Pazderski, D.
Kozłowski, K.
Waśkowicz, D.
Powiązania:: https://bibliotekanauki.pl/articles/201599.pdf
Data publikacji:: 2012
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: transverse functions
vehicle with trailers
nonholonomic system
control motion task
Lie group
Opis:: The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 557-579
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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