Motion Characteristics of Magnetic Control Micro-soft Crawling Robot
نویسندگان
چکیده
منابع مشابه
Design and control of a soft, shape-changing, crawling robot
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape profiles using minimal actuators. The shape changing ability is also a potential tool to manipulate friction forces caused by contact with the environment. These ad...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملSoft Motion Trajectory Planning and Control for Service Manipulator Robot
One important difference between industrial robotic manipulators and service robot applications is the human interaction, which introduce safety and comfort constraints. In this paper, we define soft motions conditions to facilitate this cohabitation. We propose an on-line trajectory planner that generates the necessary references to produce soft motion and a control loop that guarantees the en...
متن کاملRobot Motion Control
This paper considers the problem of the robot motion control in the presence of the major uncertainties such as it is varying load. Efficiency of one conventional and two soft computing model based control algorithms is investigated and compared trough the results of application on a direct drive robot. First control algorithm is a conventional computed torque based on the Lagrangian dynamic eq...
متن کاملDynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot
This work presents the dynamic modeling of an untethered electromagnetically actuated magnetic micro-robot, and compares computer simulations to experimental results. The micro-robot, which is composed of neodymium-iron-boron with dimensions 250 μm x 130 μm x 100 μm, is actuated by a system of 5 macro-scale electromagnets. Periodic magnetic fields are created using two different control methods...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Mechanical Engineering
سال: 2020
ISSN: 0577-6686
DOI: 10.3901/jme.2020.17.039