Trajectory Synthesis and Optimization of an Underactuated Microrobotic System with Dynamic Constraints and Couplings
Wedi’i wahardd nes
MetadataDangos cofnod eitem llawn
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.
International Journal of Control, Automation and Systems;
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
Dynodwr Gwrthrych Digidol (DOI)https://doi.org/10.1007/s12555-017-0192-7
Article published in International Journal of Control, Automation and Systems, available at https://doi.org/10.1007/s12555-017-0192-7
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/.
Yn dangos eitemau sy’n perthyn drwy deitl, awdur, pwnc a chrynodeb.
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 ...
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 ...
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 ...