## About

59

Publications

12,024

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547

Citations

Citations since 2017

Introduction

Janusz Jakubiak currently works at the Department of Cybernetics and Robotics, Wroclaw University of Science and Technology. Janusz does research in Control Systems Engineering and Electrical Engineering.

Additional affiliations

February 2004 - May 2014

## Publications

Publications (59)

Mechanical systems (as belt conveyors) used in the mining industry, especially in deep underground mines, must be supervised on a regular basis. Unfortunately, they require high power and are spatially distributed over a large area. Till now, some elements of the conveyor (drive units) have been monitored 24 h/day using SCADA systems. The rest of t...

The paper studies the coordination task for two mobile robots moving along linear paths to obtain minimal motion time without collisions. The problem is solved using maximum velocity based parameterization and coordination diagram approach. The properties of the parameterization and analytical formula of the collision zone are used to obtain the te...

This work continues our study on the control synthesis for multiple mobile robot systems (MMRS). We assume a hybrid approach that comprises the supervisory control level, based on a discrete event model of MMRS, and the robot control level, based on a continuous time model of the robot motion. Our objective is to further develop the control concept...

We study robotic systems subject to Pfaffian constraints in the affine form. A control system representation of such a system is given in the form of a control-affine system. Normal forms under feedback are considered and used both as a description of configuration singularities of the robotic system as well as a tool for solving the motion plannin...

Nowadays, drilling & blasting is crucial technique for deposit excavation using in hard rock mining. Unfortunately, such approach requires qualified staff to perform, and consequently there is a serious risk related to rock mechanics when using explosives. Negative influence of explosives usage on safety issues of underground mine is a main cause o...

Production chain (PCh) in underground copper ore mine consists of several subprocesses. From our perspective implementation of so called ZEPA approach (Zero Entry Production Area) might be very interesting [16]. In practice, it leads to automation/ robotization of subprocesses in production area. In this paper was investigated a specific part of PC...

The paper presents a design of a sensory system for a model of a hand prosthesis. The system is based on pressure sensors modules that detect a touch with an object, and measure a contact force. First tests show that the sensors are capable to detecting slippage of an object. Kinematic simulations in a CAD program for typical grasps of reference ob...

The paper presents a set of software tools dedicated to support mobile robot navigation. The tools are used to process an image from a depth sensor. They are implemented in ROS framework and they are compatible with standard ROS navigation packages. The software is released with an open source licence. First of the tools converts a 3D depth image...

This article presents a robot for remote noninvasive medical examination. In particular, this robot allows a doctor to carry out an interview, an observation, an auscultation and an ultrasound examination, including echocardiography. The robot has been developed within the ReMeDi (Remote Medical Diagnostician) project funded by the European Union’s...

The paper presents a development of a mobile platform for a robot dedicated for remote USG examination. The design process uses a component based approach for system development and platform functions are implemented within the Xenomai-OROCOS-ROS (XOR) software framework. The paper presents how the testbed platform Carol evolved to the new ReMeDi p...

In this article we discuss movement control of a ReMeDi medical mobile robot from the user perspective. The control is essentially limited to the level of operator actions where the operator is a member of a nursing staff. Two working modes are the base of considerations: long distance (LD) and short distance (SD) movement. In this context two robo...

This paper presents the concept of kinematic control of prosthetic hand with 13 d.o.f., while grasping objects of different shapes and sizes. The concept refers to the process of healthy hand motion control performed by the human nervous system. Planning of grip is based on kinematic model of the hand. The parameters of subsequent phases of the gri...

The article presents the idea o f a robot for remote medical examination. Such a robot is under development within the EU FP7 ReMeDi project. We have outlined selected user's evaluation results of the robot idea together with his/her requirements regarding the robot. Then the basic system components are presented and some of them are discussed (tho...

The paper presents a design of a control system of a mobile platform for a ReMeDi robotic system - a system for remote diagnosis with ultrasonography and palpation. The platform described in the paper is a first prototype of the mobile base for the system meant for evaluation of technical and user-defined requirements. We present the design of the...

This study addresses the problem of control and motion planning of the parallel non-holonomic orienting platform. Taking as a start point the inverse kinematics equations of the platform we identify the mechanical singularities, and represent the direct kinematics as a controllable control system on SO(3). For this system is locally feedback equiva...

This paper studies a generalization to 3D space of the planar system composed of a tractor pulling a number of trailers, called the multi-bar system. Assuming a natural coordinate description of the system, its kinematics equations are derived in the form of a driftless control system with three controls. The motion planning problem is stated, and...

This paper addressed the motion planning problem for a non-holonomic parallel orienting mechanism whose kinematics are represented by a driftless control system on SO(3). A coordinate-free, Jacobian motion planning algorithm is proposed. A normal form of singularity locus is derived. Two example motion planning problems are solved numerically.

This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suitability for a particular task-detection identification and overcoming encountered obstacles on the robot's path were assessed.

In this chapter two locally energy-optimal motion planning methods were compared. Both of them are based on the Newton algorithm ( primarily exploited to solve an inverse kinematic task in robotic manipulators) adapted to motion planning of driftless nonholonomic systems. The first, continuous method employs a standard technique of optimization in...

This paper addresses the motion planning problem of the trident snake robot consisting of a triangular body equipped with 2-link branches with actuated joints. The kinematics of the robot are represented by a driftless control system referred to as body controlled. This system converts to joint controlled after applying a feedback transformation. A...

Designing a robot manipulator with fewer actuators than the dimension of its configuration space —to reduce bulk, weight and cost— becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. Unfortunately, the mechanical advantages of these non-holonomic designs are usually darkened by the complexity of their control...

We study the motion planning problem for the multi-bar system composed of a series of rigid bars connected by spherical joints, moving in R3 and subject to non-holonomic constraints. The control system representation of the system takes the form of a driftless control system with 3 inputs. In order to avoid representation singularities, the constra...

We present an algorithm to generate splines on a torus. In the task solved it is assumed that the splines connect points with given velocities in boundary positions. Results are adapted to a double pendulum robotic arm, illustrated by computer simulations and compared with regular cubic interpolation and X-splines. This paper is an extended version...

We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspi...

We derive a class of dynamic Jacobian inverses of mobile manipulator kinematics based on the Ważewski inequality. It is shown that all right Jacobian inverses, as well as the adjoint Jacobian, the adjugate dexterity matrix, and the singularity robust Jacobian inverse belong to this class. Performance of example Jacobian algorithms is illustrated by...

We address the motion planning problem of the trident snake robot. The problem is solved with the help of the imbalanced Jacobian inverse kinematics algorithm dedicated to nonholonomic systems with constraints. Performance of the algorithm is illustrated with computer simulations.

In the framework of control theory the motion planning problem of a robotic system amounts to determining a control function that steers the system from an initial state to a prescribed desirable state in such a way that the resulting state or output trajectory stays within an admissible region, free from obstacles. Basically, motion planning algor...

In the paper a problem of analyzing surgeon's right hand wrist trajectory during laparoscopic operation is considered. Based on the results of the analysis detection algorithms to recognize six motions are developed. The motions can be considered as primitives of a surgery from the human scrub nurse point of view. In the analysis, to represent moti...

Using control theoretic concepts we present a definitional procedure of extended Jacobian inverse kinematics algorithms for mobile robots. As a point of departure we assume a representation of the mobile robot kinematics as the end point map of a driftless control system with outputs. The space of admissible control functions of this system plays t...

In this paper we study the inverse kinematic problem for mobile manipulators, consisting of a nonholonomic mobile platform with a manipulator mounted atop of it. Inverse kinematics is defined in terms of the endogenous configuration framework. We propose a general algorithm of finding inverse kinematics based on the model predictive control approac...

This paper presents a simple geometric algorithm to generate splines of arbitrary degree of smoothness in Euclidean spaces. Unlike other existing methods, this simple geometric algorithm does not require a recursive procedure and, consequently, introduces a significant reduction in calculation time. The algorithm is then extended to other complete...

By a generalization of the well-known extended Jacobian method for stationary manipulators, we derive the extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots. Key points of the derivation consist in defining the kinematics of a mobile robot as the end-point map of a driftless control system, decomposing the space of contro...

We study Jacobian inverse kinematics algorithm sf ormobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithm si n order to improve...

A doubly nonholonomic mobile manipulator is defined as a mobile manipulator consisting of a nonholonomic stationary manipulator mounted on a nonholonomic mobile platform. Exploiting two augmenting kinematics maps, called hyperbolic and linear, we propose an extended Jacobian inverse kinematics algorithm for doubly nonholonomic mobile manipulators....

A doubly nonholonomic mobile manipulator is defined as a mobile manipulator consisting of a nonholonomic stationary manipulator mounted on a nonholonomic mobile platform. Exploiting two augmenting kinematics maps, called hyperbolic and linear, we propose an extended Jacobian inverse kinematics algorithm for doubly nonholonomic mobile manipulators....

On the basis of a geometric characterization of repeatability we present a repeatable extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm's dynamics have linear invariant subspaces in the configuration space. A standard Ritz approximation of platform controls results in a band-limited version of this algorithm. Com...

A contribution of this paper consists in deriving a repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators. The endogenous configuration space approach has been assumed as a guideline. an endogenous configuration of a mobile manipulator includes controls of the platform and joint positions of the onboard manipulator. Aft...

Based on the concept of endogenous configuration space we derive an extended Jacobian inverse kinematics algorithm for doubly nonholonomic mobile manipulators, i.e. mobile manipulators built of a nonholonomic manipulator and a nonholonomic mobile platform. A key step in the derivation consists in de fining a local diffeomorphism between the endogen...

This paper presents a new geometric algorithm to construct a C k -smooth spline curve that interpolates a given set of data (points and velocities) on a complete Riemannian manifold. Although based on a modification of the de Casteljau procedure, our algorithm is implemented in three steps only independently of the required degree of smoothness, an...

Assuming the endogenous configuration space approach we study the Jacobian pseudoinverse inverse kinematics algorithm for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic aboard manipulator. This algorithm is made finite dimensional by introducing band-limited endogenous configurations resulting from suitable trunca...

Using the endogenous configuration space approach we study the inverse kinematic problem for mobile manipulators represented by an affine (not driftless) control system with outputs. A particular case of acceleration-driven mobile platform is addressed, and solved by means of a Jacobian pseudoinverse inverse kinematics algorithm. Performance of thi...

This paper presents an extension of the endogenous configuration space approach
to mobile manipulators whose kinematics or dynamics are represented
by an affine (not driftless) control system with outputs. The inverse
kinematic problem and the problem of designing dynamic dexterity measures
are addressed. Three particular cases are studied: the cla...

We study doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator fixed to the platform. The kinematics of such mobile manipulators are represented by a pair of driftless control systems driven by platform and manipulator controls, and sharing an output function that describes positions and o...

By a mobile manipulator we mean a robotic system composed of a non-holonomic mobile platform and a holonomic manipulator fixed to the platform. A taskspace of the mobile manipulator includes positions and orientations of its end effector relative to an inertial coordinate frame. The kinematics of a mobile manipulator are represented by a driftless...

A mobile manipulator is defined as a robotic system composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The kinematics of the mobile manipulator, describing velocity constraints imposed on the platform and determining actual position and orientation of the end effector, are represented by a driftless contro...

In this paper optimization of a robotic manipulator motion in a gravity field is considered. An improvement of manipulator movement is achieved by proper selection of counterweights. The theoretical analysis of a linearized model of a manipulator with a single rotational joint (a direct driven pendulum) with a counterweight is provided. Results of...

We define a mobile manipulator as a complex robotic system composed of a mobile platform and a stationary manipulator mounted on the platform. The platform motion is subject to nonholonomic velocity constraints. The task of the mobile manipulator amounts to placing its end effector at a prescribed position and orientation in the taskspace. The kine...

We study the kinematics of a mobile manipulator composed of a nonholonomic mobile platform and one or more sta-tionary aboard manipulators whose kinematics are defined implicitly. Combined with the platform kinematics this leads to implicitly defined instantaneous kinematics of the mobile manipulator. By extending the endogenous configuration space...

A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error i...

We consider a motion planning problem for the mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The problem consists of driving the end effector to a desirable location in the task space, and avoiding simultaneously a collision of the end effector with obstacles present in the task spac...

We consider the inverse kinematic problem for mobile manipulators consisting of a nonholonomic mobile platform and a holonomic manipulator on board the platform. The kinematics of a mobile manipulator are represented by a driftless control system with outputs together with the associated variational control system. The output reachability map of th...

A mobile manipulator is defined as a robotic system composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The kinematics of the mobile manipulator, describing velocity constraints imposed on the platform and determining actual position and orientation of the end effector, are represented by a driftless contro...

In this paper the problem of global trajectory tracking for the kinematic model of a unicycle-type mobile robot is considered. It is assumed that some of the tracking error coordinates are not measurable. Using a cascaded systems approach we develop full order and reduced order observers, and introduce an observer based controller resulting in K-ex...

The continuous inverse kinematic problem amounts to computing a configuration of a mobile manipulator capable of producing a prescribed trajectory in the taskspace. By adopting a control system representation of kinematics of the mobile manipulator this problem is made equivalent to the problem of exact or asymptotic output tracking that may be sol...

A mobile manipulator is a robotic system composed of a mobile platform and a manipulator mounted atop of the platform. From control theoretic viewpoint the kinematics of the mobile manipulator can be represented by means of a driftless control system with outputs. Assuming this kind of representation we define basic concepts concerned with the kine...

## Projects

Projects (5)

The main objective is to develop the relevant theory, algorithms, and software that will enable the creation and validation of a hybrid control model, combining event-based control and time-driven
control, that ensures provably correct and efficient operation of Multiple Mobile Robot System (MMRS).

The goal of the project is to define a new class of planning and control algorithm dedicated for nonholonomic systems with drift. The task of these algorithms is to plan and execute the motion of space robot towards free floating target with presence of obstacles distributed over environment. The spacecraft uses thrusters to move towards the free floating target and the manipulator arm for precise motion in vicinity of the target.