Search scope:
排序： Display mode:
Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation Article
Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos
Engineering 2015, Volume 1, Issue 1, Pages 66-72 doi: 10.15302/J-ENG-2015016
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
Title Author Date Type Operation
京公网安备 11010502051620号
