Parametric programming of industrial robots

This article proposes the use of parametric design software, commonly used by architects, in order to obtain complex trajectory and program code for industrial robots. The paper describes the drawbacks of existing solutions and proposes a new script to obtain a correct program. The result of the algorithm was verified experimentally

Closed-loop control algorithm for some class of nonholonomic systems using polar representation

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

Real-time obstacle avoidance using harmonic potential functions

The paper presents a solution of motion planning and control of mobile robot in a two-dimensional environment with elliptical static obstacle based on hydrodynamics description. Theoretical background refers to solution of Laplace equation using complex algebra. The method of designing complex potential with respect to stationary elliptical obstacle and stationary goal is formally shown. Next, the planning motion problem is extended assuming that the goal is moving. Then results of motion planning is used in order to design closed-loop control algorithms which is based on decoupling technique. Theoretical considerations are supported by numerical simulations illustrating example results of motion planning and control

Application of the Kalman filter for the diagnosis of human biomechanics

W pracy przedstawiono prototyp zdigitalizowanego systemu pomiarowego do diagnostyki biomechaniki ludzkiego ciała. System pomiarowy zostanie zbudowany w ramach projektu dofinansowanego ze środków Unii Europejskiej, pod tytułem „Mobilne urządzenie do ortopedycznej diagnostyki biomechaniki i motoryki ludzkiego ciała”. W pracy przedstawiono dwie metody obliczania orientacji obiektu w przestrzeni 3D: metodę Madgwicka i filtr Kalmana. Zaprezentowano również stanowisko laboratoryjne do testowania zaproponowanych algorytmów oraz uzyskane wyniki badań.This paper presents assumptions and a prototype of a digitized measurement system for the diagnosis of human body biomechanics. The measurement system will be built as part of a project subsidized by the European Union, titled "Mobile device for orthopedic diagnostics of biomechanics and motility of the human body". The paper presents two methods for calculating the orientation of an object in 3D space: the Madgwick method and the Kalman filter. A laboratory stand for testing the proposed algorithms and obtained test results were also presented