The use of the theory of nonholonomic constraints in the process of automatic control of a manipulating machine

Edyta Ładyżyńska-Kozdraś

a:1:{s:5:"en_US";s:31:"Warsaw University of Technology";}

Barbara Kozłowska

Warsaw University of Technology

Danyil Potoka




Abstract

The presented study contains a sample of utilization of the control laws treated as kinematic relations of parameter deviations and realized in the process of ordered automatic control of a manipulating machine. Movement of the grasping end is considered in an inertial reference standard rigidly joined with an immobile working environment of the manipulator. The specificity of the control’s choice required creating program relations constituting the ordered parameters describing the movement of the manipulator’s elements. During work, the ordered parameters are compared to the parameters realized in the process of the grasping end’s work. This was deviations are determined, which thanks to properly prepared control laws are leveled by the manipulator’s control executive system.


Keywords:

automatic control, non-holonomic relations, control laws, manipulator

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Published
2021-11-15

Cited by

Ładyżyńska-Kozdraś, E., Kozłowska, B., & Potoka, D. (2021). The use of the theory of nonholonomic constraints in the process of automatic control of a manipulating machine. Technical Sciences, 24(1), 221–228. https://doi.org/10.31648/ts.7017

Edyta Ładyżyńska-Kozdraś 
a:1:{s:5:"en_US";s:31:"Warsaw University of Technology";}
Barbara Kozłowska 
Warsaw University of Technology
Danyil Potoka 




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Copyright (c) 2021 Edyta Ładyżyńska-Kozdraś, Barbara Kozłowska, Danyil Potoka

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