WYKORZYSTANIE TEORII WIĘZÓW NIEHOLONOMICZNYCH W PROCESIE AUTOMATYCZNEGO STEROWANIA MASZYNĄ MANIPULUJĄCĄ

Edyta Ładyżyńska-Kozdraś

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

Barbara Kozłowska

Warsaw University of Technology

Danyil Potoka




Abstrakt

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.


Słowa kluczowe:

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


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Opublikowane
15-11-2021

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Ładyżyńska-Kozdraś, E., Kozłowska, B., & Potoka, D. (2021). WYKORZYSTANIE TEORII WIĘZÓW NIEHOLONOMICZNYCH W PROCESIE AUTOMATYCZNEGO STEROWANIA MASZYNĄ MANIPULUJĄCĄ. 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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