Control of a Chain-like Locomotion System Subject to Undulatory Excitation

被引：0
|
作者：
Bolotnik, Nikolay [1 ]
Pivovarov, Mikhail [2 ]
Zeidis, Igor [2 ]
Zimmermann, Klaus [2 ]
机构：
[1] Russian Acad Sci, Inst Problems Mech, 101-1 Vernadsky Ave, Moscow 119526, Russia
[2] Ilmenau Univ Technol, D-98684 Ilmenau, Germany
来源：
IFAC PAPERSONLINE | 2015年 / 48卷 / 01期
关键词：
mechanical systems; mobile robots; friction; control;
D O I：
10.1016/j.ifacol.2015.05.012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The motion of a chain of three identical bodies along a straight line in a dry-friction medium is studied. The motion is excited and controlled by changing the distances between the bodies of the chain. An undulatory excitation mode is proposed, in which the distances between the adjacent bodies of the chain change periodically and the time histories of the distances in the pairs of adjacent bodies consecutively repeat each other with a constant time shift. Piecewise linear and piecewise quadratic excitation laws are considered and compared. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：836 / 841
页数：6
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