• English
    • Welsh
  • English 
    • English
    • Welsh
  • Login
Search DSpace:
  • Home
  • Research at Cardiff Met
  • Library Services
  • Contact Us
View item 
  • DSpace home
  • Cardiff School of Technologies
  • School of Technologies Research
  • View item
  • DSpace home
  • Cardiff School of Technologies
  • School of Technologies Research
  • View item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Trajectory Synthesis and Optimization of an Underactuated Microrobotic System with Dynamic Constraints and Couplings

Thumbnail
View/open
Author's post-print (1.352Mb)
Author
Liu, Pengcheng
Yu, Hongnian
Cang, Shuang
Date
2018-07-25
Acceptance date
2018-02-22
Type
Article
Publisher
Springer
ISSN
1598-6446
2005-4092 (online)
Metadata
Show full item record
Abstract
Motivated by the desire to optimally control the friction-induced stick-slip locomotion and sufficiently improve the energy efficacy, a novel trajectory synthesis and optimization scheme is proposed in this paper for a underactuated microrobotic system with dynamic constraints and couplings. The nonlinear microrobotic model utilizes combined tangential-wise and normal-wise vibrations for underactuated locomotion, which features a generic significance for the studies on microrobotic systems. Specifically, an analytical two-stage velocity trajectory is constructed under control indexes and physical constraints. Subsequently, the dynamic coupling behavior and the qualitative variation laws are characterized through rigorous bifurcation analysis. The synthesized trajectory is optimized and tuned via rigorous analysis based on the robot dynamics. The proposed trajectory planning mechanism provides a promising approach in determining the optimal viscoelastic parameters and trajectory parameters such that the optimal locomotion indexes can be met. Simulation results are presented to demonstrate the efficacy and feasibility of the proposed scheme.
Journal/conference proceeding
International Journal of Control, Automation and Systems;
Citation
Liu, P., Yu, H. and Cang, S. (2018) 'Trajectory synthesis and optimization of an underactuated microrobotic system with dynamic constraints and couplings', International Journal of Control, Automation and Systems, 16(5), pp.2373-2383. https://doi.org/10.1007/s12555-017-0192-7
URI
http://hdl.handle.net/10369/10227
DOI
https://doi.org/10.1007/s12555-017-0192-7
Description
Article published in International Journal of Control, Automation and Systems, available at https://doi.org/10.1007/s12555-017-0192-7
Rights
http://www.rioxx.net/licenses/under-embargo-all-rights-reserved
Sponsorship
This work was partially supported by European Commission Marie Skłodowska-Curie SMOOTH (Smart robots for fire-fighting) project (H2020-MSCA-RISE-2016-734875) - https://doi.org/fusion-edu.eu/SMOOTH/, Royal Society International Exchanges Scheme (Adaptive Learning Control of a Cardiovascular Robot using Expert Surgeon Techniques) project (IE151224), and European Commission International Research Staff Exchange Scheme (IRSES) RABOT project (PIRSES-GA-2012-318902) - https://doi.org/rabot.fusion-edu.eu/.
Collections
  • School of Technologies Research [166]

Related items

Showing items related by title, author, subject and abstract.

  • Thumbnail

    Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property 

    Liu, Pengcheng; Yu, Hongnian; Cang, Shuang (Sage, 2017-09-20)
    This paper proposes a novel geometric analysis-based trajectory planning approach for underactuated capsule systems with viscoelastic property. The idea is to reduce complexity and to characterize coupling by imposing a ...
  • Thumbnail

    Optimized adaptive tracking control for an underactuated vibro-driven capsule system 

    Liu, Pengcheng; Yu, Hongnian; Cang, Shuang (Springer, 2018-07-07)
    This paper studies the issue of adaptive trajectory tracking control for an underactuated vibro-driven capsule system and presents a novel motion generation framework. In this framework, feasible motion trajectory is derived ...
  • Thumbnail

    Modelling and control of an elastically joint-actuated cart-pole underactuated system 

    Liu, Pengcheng; Yu, Hongnian; Cang, Shuang (IEEE, 2014)
    This paper investigates the modelling and closedloop tracking control issues of a novel elastic underactuated multibody system. A torsional inverted pendulum cart-pole system with a single rotary actuator at the pivot of ...

Browse

DSpace at Cardiff MetCommunities & CollectionsBy issue dateAuthorsTitlesSubjectsThis collectionBy issue dateAuthorsTitlesSubjects

My Account

Login

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

DSpace software copyright © 2002-2015  DuraSpace
Contact us | Send feedback | Administrator