Inverse dynamics-based motion control of a fluid-actuated rolling robot

S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto

研究成果: Article査読

3 被引用数 (Scopus)

抄録

In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.

本文言語English
ページ(範囲)611-622
ページ数12
ジャーナルRussian Journal of Nonlinear Dynamics
15
4
DOI
出版ステータスPublished - 2019
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 機械工学

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