This paper presents a general overview of the technological fields of mechatronic, robotic, compo... more This paper presents a general overview of the technological fields of mechatronic, robotic, components for automation and control. Five technical areas are considered: component and instruments, mechatronic, robotics, cost oriented automation and human-machine systems. The paper addresses their current key problems and the recent major accomplishments. At last the most promising forecasted development and applications are considered.
International Journal of Heavy Vehicle Systems, Aug 4, 2014
This paper presents a set of algorithms for piloting an autonomous planetary rover along a planne... more This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing real–time obstacle avoidance and improving a dead reckoning capability. Path tracking is accomplished using linear regulation (feedback) of position and orientation errors, measured with respect to the planned path trajectory. Obstacle avoidance is performed through the application of the concept of an artificial potential field to data that can be acquired using a scanning rangefinder. Dead reckoning is improved by the algorithmic filtering and fusing of odometry and inertial navigation data streams. Computer simulation is used to illustrate the path–tracking and obstacle–avoidance capabilities, and experimental data is used to show how sensor fusion mitigates the effects of wheel–slippage and integration–error in dead reckoning.
Aircraft Engineering and Aerospace Technology, Feb 4, 2019
PurposeThis paper aims to present a novel method for identification and classification of rotatio... more PurposeThis paper aims to present a novel method for identification and classification of rotational motion for uncontrolled satellites. These processes are shown in context of close proximity orbital operations. In particular, it includes a manipulator arm mounted on chaser satellite and used to capture target satellites. In such situations, a precise extrapolation of the target’s docking port position is needed to determine the manipulator arm motion. The outcome of this analysis might be used in future debris removal or servicing space missions.Design/methodology/approachNonlinear, and in some special cases, chaotic nature of satellite rotational motion was considered. Four parameters were defined: range of motion toward docking port, dominant frequencies, fractal dimension of the motion and its time dependencies.FindingsThe qualitative analysis was performed for presented cases of spacecraft rotational motion and for each case the respective parameters were calculated. The analysis shows that it is possible to detect the type of rotational motion.Originality/valueA novel procedure allowing to estimate the type of satellite rotational motion based on fractal approach was proposed.
This paper presents an experimental setup , which is designed to play a nonstandard panel game be... more This paper presents an experimental setup , which is designed to play a nonstandard panel game between a man and a robot. The robot is equipped with a sucking device, which is designed to carry pawns. This effector is mounted at the end of mechanical manipulator with three linear joints. The competitors put their pawns on the board in order to make as many triples in a row as possible. The robot autonomously takes the decisions, based on algorithm calIed Min-Max. The robot wins almost in every case. This algorithm was compared with two others: first one is rule based, the second is a simple "mirror" strategy.
Space robotics is the most vividly explored branch of modern robotics recently. In places where m... more Space robotics is the most vividly explored branch of modern robotics recently. In places where men permanent stay is hardly possible, there is a need to have an autonomous clevice to carry out works like doing repairs of a space station, capturing satellites, etc. Some of the tasks can be performed by a space station mounted robots but most of them need to move a robot to a far-distant place-of-work. Free flying robots can manage various tasks. A free flying robot is on one hand simpler to control than its Earth-based counterpart because in the space gravity is equal to zero. On
Control of the flexible arm space based robots in general is a difficult problem. Low damping and... more Control of the flexible arm space based robots in general is a difficult problem. Low damping and significant flexibility cause vibration and non-linear phenomenon. This paper presents a control system for a flexible arm using piezofLim sensors and piezocerarnic actuators. LQR method, based on a full state feedback, has been used to control the flexible arm. The control sy,stem has been studied both analytically and experimentally. Results are compared and discussed. The paper shows that piezoelements can be efficient components of control systems especially in case where several dynamic modes have to be compensated.
GeoPlanet: earth and planetary sciences, Nov 12, 2018
Manipulators are widely used in orbital operations, for example, Mobile Servicing System on the I... more Manipulators are widely used in orbital operations, for example, Mobile Servicing System on the International Space Station and Shuttle Remote Manipulator System are used for several years. Such manipulators are operated by astronauts and mounted on large platforms, thus influence of manipulator motion on the state of the platform is not significant. Application of manipulators for capture maneuvers in unmanned On-Orbit Servicing or Active Debris Removal missions requires reliable control algorithms that take into account the free-floating nature of the manipulator-equipped spacecraft. In this paper the possibility of using Nonlinear Model Predictive Control (NMPC) for controlling such manipulators is presented. Numerical simulations for a simplified planar case show effectiveness of the proposed controller.
This paper presents the current state of the technology in space robotics. Some historical develo... more This paper presents the current state of the technology in space robotics. Some historical developments and the experience gained during those projects have been discussed. The challenge of space exploration and related danger requires even larger use of robotics devices. Many tasks and jobs are being automated. The exploration of the Moon and Mars requires the autonomous, mobile robots to gather various information, measurements and data. An introduction of Space Shuttle and related activities required an efficient robotic manipulator for in orbit operations. The Space Station Mir (in orbit) and especially Space Station Freedom (planned for nearest future) require advanced robots and manipulators. The Space Station Remote Manipulator System (SSRMS) and Special Purpose Dextrous Manipulator (SPDM) have been shown and briefly reviewed. Those and other robots for future missions are discussed in this paper.
In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platf... more In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platform has been presented. For mathematical model of such object, expressed in auxiliary coordinates, control law based on virtual force concept has been introduced. Skid-steering mobile platform is an underactuated control system with rectangular input matrix. In our approach it was assumed that there exists additional control input, giving additional column in input matrix and causing this matrix to be invertible. Because such actuator does not exists in reality, therefore this input was kept equal to zero equivalently. Simulations have proved that such method works properly in unknown terrain and in presence of disturbances.
Unmanned spacecraft equipped with manipulators could be used for on-orbit servicing or for captur... more Unmanned spacecraft equipped with manipulators could be used for on-orbit servicing or for capture and removal from orbit of large space debris. After grasping of tumbling target satellite with the manipulator both satellites connected by the manipulator begin to rotate around the common mass center. Changes of manipulator configuration would results in changes of combined moment of inertia and changes in rotational motion of such system. Two satellites connected by the manipulator can be considered as a one rigid body with variable inertia. In this paper we present application of Rapidly-exploring Random Trees (RRT) algorithm for planning changes of inertia tensor of such rotating body in order to minimize rotational kinetic energy and stabilize motion around one axis. Minimization of rotational energy is crucial for the detumbling phase of orbital capture maneuver. Results of numerical simulation is presented and possible directions of future work are indicated.
This Proceedings contains the papers presented at the IFAC Workshop on Mobile Robot Technology, h... more This Proceedings contains the papers presented at the IFAC Workshop on Mobile Robot Technology, held in Jejudo Island, Korea, on 20 - 23 May 2001. This is an important and interesting topic, and this Proceedings contains approximately 50 papers featuring some of the very best work being undertaken by research groups from all around the world. The papers deal with both the theoretical and practical aspects of mobile robot technology, covering important problems and issues related to the subject.
This paper presents a general overview of the technological fields of mechatronic, robotic, compo... more This paper presents a general overview of the technological fields of mechatronic, robotic, components for automation and control. Five technical areas are considered: component and instruments, mechatronic, robotics, cost oriented automation and human-machine systems. The paper addresses their current key problems and the recent major accomplishments. At last the most promising forecasted development and applications are considered.
International Journal of Heavy Vehicle Systems, Aug 4, 2014
This paper presents a set of algorithms for piloting an autonomous planetary rover along a planne... more This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing real–time obstacle avoidance and improving a dead reckoning capability. Path tracking is accomplished using linear regulation (feedback) of position and orientation errors, measured with respect to the planned path trajectory. Obstacle avoidance is performed through the application of the concept of an artificial potential field to data that can be acquired using a scanning rangefinder. Dead reckoning is improved by the algorithmic filtering and fusing of odometry and inertial navigation data streams. Computer simulation is used to illustrate the path–tracking and obstacle–avoidance capabilities, and experimental data is used to show how sensor fusion mitigates the effects of wheel–slippage and integration–error in dead reckoning.
Aircraft Engineering and Aerospace Technology, Feb 4, 2019
PurposeThis paper aims to present a novel method for identification and classification of rotatio... more PurposeThis paper aims to present a novel method for identification and classification of rotational motion for uncontrolled satellites. These processes are shown in context of close proximity orbital operations. In particular, it includes a manipulator arm mounted on chaser satellite and used to capture target satellites. In such situations, a precise extrapolation of the target’s docking port position is needed to determine the manipulator arm motion. The outcome of this analysis might be used in future debris removal or servicing space missions.Design/methodology/approachNonlinear, and in some special cases, chaotic nature of satellite rotational motion was considered. Four parameters were defined: range of motion toward docking port, dominant frequencies, fractal dimension of the motion and its time dependencies.FindingsThe qualitative analysis was performed for presented cases of spacecraft rotational motion and for each case the respective parameters were calculated. The analysis shows that it is possible to detect the type of rotational motion.Originality/valueA novel procedure allowing to estimate the type of satellite rotational motion based on fractal approach was proposed.
This paper presents an experimental setup , which is designed to play a nonstandard panel game be... more This paper presents an experimental setup , which is designed to play a nonstandard panel game between a man and a robot. The robot is equipped with a sucking device, which is designed to carry pawns. This effector is mounted at the end of mechanical manipulator with three linear joints. The competitors put their pawns on the board in order to make as many triples in a row as possible. The robot autonomously takes the decisions, based on algorithm calIed Min-Max. The robot wins almost in every case. This algorithm was compared with two others: first one is rule based, the second is a simple "mirror" strategy.
Space robotics is the most vividly explored branch of modern robotics recently. In places where m... more Space robotics is the most vividly explored branch of modern robotics recently. In places where men permanent stay is hardly possible, there is a need to have an autonomous clevice to carry out works like doing repairs of a space station, capturing satellites, etc. Some of the tasks can be performed by a space station mounted robots but most of them need to move a robot to a far-distant place-of-work. Free flying robots can manage various tasks. A free flying robot is on one hand simpler to control than its Earth-based counterpart because in the space gravity is equal to zero. On
Control of the flexible arm space based robots in general is a difficult problem. Low damping and... more Control of the flexible arm space based robots in general is a difficult problem. Low damping and significant flexibility cause vibration and non-linear phenomenon. This paper presents a control system for a flexible arm using piezofLim sensors and piezocerarnic actuators. LQR method, based on a full state feedback, has been used to control the flexible arm. The control sy,stem has been studied both analytically and experimentally. Results are compared and discussed. The paper shows that piezoelements can be efficient components of control systems especially in case where several dynamic modes have to be compensated.
GeoPlanet: earth and planetary sciences, Nov 12, 2018
Manipulators are widely used in orbital operations, for example, Mobile Servicing System on the I... more Manipulators are widely used in orbital operations, for example, Mobile Servicing System on the International Space Station and Shuttle Remote Manipulator System are used for several years. Such manipulators are operated by astronauts and mounted on large platforms, thus influence of manipulator motion on the state of the platform is not significant. Application of manipulators for capture maneuvers in unmanned On-Orbit Servicing or Active Debris Removal missions requires reliable control algorithms that take into account the free-floating nature of the manipulator-equipped spacecraft. In this paper the possibility of using Nonlinear Model Predictive Control (NMPC) for controlling such manipulators is presented. Numerical simulations for a simplified planar case show effectiveness of the proposed controller.
This paper presents the current state of the technology in space robotics. Some historical develo... more This paper presents the current state of the technology in space robotics. Some historical developments and the experience gained during those projects have been discussed. The challenge of space exploration and related danger requires even larger use of robotics devices. Many tasks and jobs are being automated. The exploration of the Moon and Mars requires the autonomous, mobile robots to gather various information, measurements and data. An introduction of Space Shuttle and related activities required an efficient robotic manipulator for in orbit operations. The Space Station Mir (in orbit) and especially Space Station Freedom (planned for nearest future) require advanced robots and manipulators. The Space Station Remote Manipulator System (SSRMS) and Special Purpose Dextrous Manipulator (SPDM) have been shown and briefly reviewed. Those and other robots for future missions are discussed in this paper.
In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platf... more In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platform has been presented. For mathematical model of such object, expressed in auxiliary coordinates, control law based on virtual force concept has been introduced. Skid-steering mobile platform is an underactuated control system with rectangular input matrix. In our approach it was assumed that there exists additional control input, giving additional column in input matrix and causing this matrix to be invertible. Because such actuator does not exists in reality, therefore this input was kept equal to zero equivalently. Simulations have proved that such method works properly in unknown terrain and in presence of disturbances.
Unmanned spacecraft equipped with manipulators could be used for on-orbit servicing or for captur... more Unmanned spacecraft equipped with manipulators could be used for on-orbit servicing or for capture and removal from orbit of large space debris. After grasping of tumbling target satellite with the manipulator both satellites connected by the manipulator begin to rotate around the common mass center. Changes of manipulator configuration would results in changes of combined moment of inertia and changes in rotational motion of such system. Two satellites connected by the manipulator can be considered as a one rigid body with variable inertia. In this paper we present application of Rapidly-exploring Random Trees (RRT) algorithm for planning changes of inertia tensor of such rotating body in order to minimize rotational kinetic energy and stabilize motion around one axis. Minimization of rotational energy is crucial for the detumbling phase of orbital capture maneuver. Results of numerical simulation is presented and possible directions of future work are indicated.
This Proceedings contains the papers presented at the IFAC Workshop on Mobile Robot Technology, h... more This Proceedings contains the papers presented at the IFAC Workshop on Mobile Robot Technology, held in Jejudo Island, Korea, on 20 - 23 May 2001. This is an important and interesting topic, and this Proceedings contains approximately 50 papers featuring some of the very best work being undertaken by research groups from all around the world. The papers deal with both the theoretical and practical aspects of mobile robot technology, covering important problems and issues related to the subject.
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Papers by Jurek Sasiadek