2015, Volume 1, Issue 1
Engineering >> 2015, Volume 1, Issue 1 doi: 10.15302/J-ENG-2015016
Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation
Department of Mechanical Engineering, National Technical University of Athens, 15780 Zografou, Athens, Greece
a Present address: Department of Computer Science and Engineering, University of Ioannina, 45110 Ioannina, Greece
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Abstract
This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
Keywords
microrobotics ; vibration micromotor ; actuation nonholonomic planning ; nonholonomic constraints compensation
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