Robot virtual prototype in ADAMS

Tato práce se zabývá vytvořením virtuálního modelu robotu v ADAMS a co-simulačním propojením tohoto modelu s návrhem řízení v Matlab/Simulink. Robotem je segway Pierot vytvořený v rámci předchozích závěrečných prací. Obsahem této práce je vytvoření multi-body modelu, volba pohonu vytvoření co-simulačního propojení a samotná co-simulace.The goal of this work is to create virtual model of robot in ADAMS and co-simulation link between ADAMS and control system in Matlab/Simulink. Robot is segway robot called Pierot, created as the result of past final works. In this work is described creation of robot's multi-body model, choice of the motor, creation of co-simulation link and co-simulation itself.

The energy–momentum method for the stability of non-holonomic systems

In this paper we analyze the stability of relative equilibria of nonholonomic systems (that is, mechanical systems with nonintegrable constraints such as rolling constraints). In the absence of external dissipation, such systems conserve energy, but nonetheless can exhibit both neutrally stable and asymptotically stable, as well as linearly unstable relative equilibria. To carry out the stability analysis, we use a generalization of the energy-momentum method combined with the Lyapunov-Malkin theorem and the center manifold theorem. While this approach is consistent with the energy-momentum method for holonomic systems, it extends it in substantial ways. The theory is illustrated with several examples, including the the rolling disk, the roller racer, and the rattleback top

Redundancy of space manipulator on free-flying vehicle and its nonholonomic path planning

The nonholonomic mechanical structure of space robots and path planning is discussed. The angular momentum conservation works as a nonholonomic constraint while the linear momentum conservation is a holonomic one. Thus, a vehicle with a 6 d.o.f. manipulator is described as a 9 variable system with 6 inputs. This implies the possibility of controlling the vehicle orientation and the joint variables of the manipulator by actuating the joint variables, but only if the trajectory is carefully planned; however, both of them cannot be controlled independently. It means that by assuming feasible-path planning, a system that consists of a vehicle and a 6 d.o.f. manipulator can be utilized as 9 d.o.f. system. Initially, the nonholonomic mechanical structure of space vehicle/manipulator system is shown. Then a path planning scheme for nonholonomic systems is proposed using Lyapunov functions