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For nonholonomic robots whose kinematics are described by a driftless control system with outputs a new Jacobian inverse and a Jacobian motion planning algorithm are proposed. This inverse is based on solving a Lagrange-type constrained optimization problem, generalizing the usual Jacobian pseudoinverse. A case study illustrates a potential applicability of the new algorithm to shaping the system's...
The goal of this paper is to point out the important role of the of human capital and information and communication technologies (ICT) areas to identify the opportunities appearing in the knowledge-based economy. The presented concept is a results of research that were carried out concerning the adaptation of the enterprises' management systems to the knowledge-based economy requirements. The research...
In this paper experimental verification of a mobile robot control and colision avoidance is presented. The control is based on the navigation function that was proposed in [2]. Navigation function agregates position, orientation and colision avoidance terms. Experimental results show that both position and orientation lead to desired values very quickly and reach them with small errors.
Convertible UAVs (Unmanned Aerial Vehicles) associate the capacities of stationary flight, like helicopters, and efficient cruising flight, like airplanes. This duality is usually achieved by a mechanical design that combines several propellers and wings. A large variety of such combinations have been proposed, especially after the Second World War. Thanks to electronic miniaturization, recent years...
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite...
The paper presents a project and an implementation of autonomous control algorithms of the Small Size League (SSL) robots group. The project of the control strategy (control algorithms) applies a three stage control strategy known as the Game-Roles-Skills approach. The article contains description of essential modules of the control software responsible for autonomous control of the robots group....
There has been tremendous progress on the distributed control of mobile autonomous multi-agents, mainly driven by the need to achieve desirable group behavior for the multi-agents based only on local information exchange and feedback control. In this review article, a small-gain approach is proposed to design a new class of distributed nonlinear controllers for leader-following formation control of...
Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules. An important advantage of modular robots is their ability to recover from failures by ejecting and replacing damaged modules. This type of failure...
In motion planning of a symmetric affine system under kinematic non-holonomic constraints, a control method using holonomy is known. The holonomy is a state displacement caused by periodic control inputs. A class of kinematic non-holonomic systems can be expressed by the first-order chained form; a class of dynamic non-holonomic systems can be represented by the second-order chained form. To my best...
This paper introduces an emerging technology called active disturbance rejection control (ADRC), and a story that spans East to West in geography and centuries in time. Emerges from ADRC is the idea that shadowed the ancient Chinese invention of the south-pointing chariot, the idea embedded in a Frenchman' invention of isochronous governor from the early 19th Century, and the very same idea of invariance...
In this paper, a problem of verification under what conditions it is possible to reject disturbances in a control system with an active disturbance rejection control scheme (ADRC) is considered. The complexity of this problem varies with the structure of the disturbance acting on the system. The conducted study is based on investigating similarities between the ADRC methodology and the well-known...
In an industrial setup it is of great importance to facilitate easy and fast robot teaching in order to meet the increasing demands from industry for high flexibility and efficiency. This paper presents a novel tele-operation device for teaching assembly tasks to robots.
In this paper, a data-driven non-model-based approach is proposed for the adaptive optimal control of connected vehicles, comprised of n human-driven vehicles only transmitting motional data and an autonomous vehicle in the tail receiving the broadcasted data from preceding vehicles by wireless vehicle-to-vehicle (V2V) communication devices. An optimal control problem is formulated to minimize the...
We present a haptic device based on the jamming phenomena that is designed for telemanipulation purposes, especially in mobile robotics. It is a soft, lightweight, mechanically simple and intrinsically stable mechanism which gives the operator support in grasping and exploration tasks. This paper explains our motivation and the role of the proposed device as part of a telemanipulation interface. We...
This paper presents an application of the Lifted Newton method in the motion planning of robotics systems represented by a nonlinear control system with output. This representation covers a wide range of systems, from simple nonholonomic systems modeled on kinematics level to complex systems with dynamics. Following the Endogenous Configuration Space Approach, the motion planning problem is defined...
The paper presents an innovative construction of Pneumatic Artificial Muscles. Due to transverse deformation of the muscle, it allows obtaining a linear displacement by changing a diameter of a muscle. The new type of drive, which is represented by this solution, can be used in a robot designed for exploration of a human intestine. On the basis of investigation, there are presented results of a research,...
In this paper, we address the problem of traversing rough terrains with hexapod walking robots. Although there can be found several approaches to deal with the terrain complexity, the proposed approach is strictly focused on a minimalist and cheap sensor equipment without additional inertial and exteroceptive sensors. The main idea of the proposed approach is to consider only the feedback from the...
In the paper a control algorithm for a nonholonomic mobile manipulator with simple holonomic constraint on robot joint has been presented. Reduced dynamics of a whole system defined on constraint surface have been developed. A new control algorithm, divided into position control law for unconstrained subsystem and force control law, expressed in terms of the motion on the constraint manifold has been...
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