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振动驱动的微型机器人非完整约束补偿的定位方法
Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation
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.
microrobotics / vibration micromotor / actuation nonholonomic planning / nonholonomic constraints compensation
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