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This article is cited in 4 scientific papers (total in 4 papers)
Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
S. A. Tafrishia, Y. Baib, M. Svininb, E. Esmaeilzadehc, M. Yamamotoa a Faculty of Engineering, Kyushu University,
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
b College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan
c Department of Mechanical Engineering, University of Tabriz,
Bahman Blvd. 29, Tabriz 51666-14766, Iran
Abstract:
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.
Keywords:
inverse dynamics, motion planning, spherical robots, fluid actuator.
Received: 05.06.2019 Accepted: 20.11.2019
Citation:
S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto, “Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”, Rus. J. Nonlin. Dyn., 15:4 (2019), 611–622
Linking options:
https://www.mathnet.ru/eng/nd688 https://www.mathnet.ru/eng/nd/v15/i4/p611
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Abstract page: | 165 | Full-text PDF : | 33 | References: | 16 |
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