Ľubica Miková

Simulation Model of Manipulator for Model Based Design

The subject of creation of simulation and mathematical models is nowadays more and more current and its application is in almost every aspect of life. The article deals with compiling a mathematical model of a pivoting arm using Lagrange equations of the second kind. Subsequently, the model will be created in the simulation program Matlab/Simulink. The simulation model will as well be assembled in the program Adams. The results of these simulations will be compared in the conclusion. This article presents a procedure for resolving a mechanical system from the beginning, from creation of a mathematical model through creation of a simulation model up to evaluation of the simulation results. This paper presents a procedure for resolving mechanical system from the beginning. Thus, it is done by creating a mathematical model through the creation of a simulation model to evaluate the results of the simulation. According to these simulations will produce a working model of the manipulator, which could be used for teaching purposes.

Concept of Locomotion Mobile Undercarriage Structure Control for the Path Tracking

The article deals with the proposal structure of undercarriages mobile robot GTR 2010 control. Functional model of the undercarriages mobile robot GTR2010 should be able to carry out active tracking of desired path for achieving a goal and get over obstacles in unstructured environments.

Mathematical Model of Four Wheeled Mobile Robot and its Experimental Verification

The paper deals with creation of a mathematical model of the mobile robot. For description of the kinematic variables such as position and velocity of each wheel a transformation matrix is used. The simulation model can be applied for calculation of assumed of the undercarriage centre of gravity and path of wheels. The function model was also used for experimental verification of the results of simulation experiments.

An inspection of pipe by snake robot

The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b) is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

Didactic Models Used on Mechatronic Courses

The paper deals with one-chip controller Basic Atom, which is often used as control unit in mechatronics systems designed via students. Students can use our building units for training of control subsystem developing for mechatronic products. Also several theses have been done on this topic. Mechatronic systems and robots from these theses are available for other students as training models for practical exercises.

Adaptable Mechatronic Locomotion System

Adaptable Mechatronic Locomotion System Wheeled in-pipe locomotion is very favourite principle of locomotion used inside pipe. However, there are several problems in these systems like slipping or deadlocking on inner pipe wall. The construction of the system provides adaptation of the wheels position i.e. adaptation of the normal force of the wheels against to the inner pipe wall. This property is important, because of geometric deviations on inner pipe wall. Information about the actual normal force of wheels against the inner pipe wall is used for regulation of their value. When normal force is too small then slipping occurs, but if normal force is too large then deadlocking occurs. A designed system is able to adapt to pipe with inner diameter in range of 100mm to 200mm.

Snake Robot Locomotion Patterns for Straight and Curved Pipe

Abstract In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by which can be stated the priorities of particular tasks. Both case studies were tested by experimental snake robot in order to verify introduced methodology for locomotion in the straight and curved pipe.

Friction Difference as Principle of Robot Locomotion

Paper deals with friction difference principle, which is used as basic principle of robot locomotion. Piezoactuator is used as driving unit for locomotion. Structure of robot is described and also steady state velocity is derived.

Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System

The article deals with the issue of mathematical modelling of nonholonomic system. The introductory part of article contains theory about different approaches of mathematical modelling that we used. Further we explained the basic principle of Ackerman steered car-like system. Then it contains the determination of mathematical model for Ackerman steered car-like system where we consider ideal source of velocity. In the last part we compared and showed individual advantages and disadvantages of approaches of mathematical modelling.

Impact of dynamics of the frame on the performance of the positioning servosystem

The article deals with the issue of the impact of parasitic dynamics caused by vibroisolation on the performance of the positioning system in low- and high-frequency regions. Based on the simplified structure of the positioning system and passive vibroisolation system with one degree of freedom, a new structure of the positioning system is created taking into account the impact of vibroisolation system. By utilizing this structure of the positioning system based on the simulation, the impact of the ratio of the weight of the actuator to the frame weight and the damping factor on the performance of the positing system in low- and high-frequency regions is demonstrated.