Local Accessibility and Stability of an Underactuated Crawling Robot with Changing Constraints
نویسندگان
چکیده
Underactuated systems are those processing fewer actuators than degrees of freedom. But generally they are difficult to control. In this paper we realize crawling motion by an underactuated robot. By changing the location of the fixed point of the robot to the environment, the constraint of the system is changed. Local accessibility of the system with changing the constraints as a nonhoronomic system is shown. Control law based on partial feedback linearization is proposed and stability of the closed-loop system is discussed. We discuss trajectory planning of the robot based on the geometric relation. To demonstrate the effectiveness of the proposed controller experiments have been carried out.
منابع مشابه
An Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators
This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...
متن کاملAn Alternative Stability Proof for Direct Adaptive Function Approximation Techniques Based Control of Robot Manipulators
This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کاملDesigning an Optimal Stable Algorithm for Robot Swarm Motion toward a Target
In this paper, an optimal stable algorithm is presented for members of a robots swarm moving toward a target. Equations of motion of the swarm are based on Lagrangian energy equations. Regarding of similar research On the design of swarm motion algorithm, an equation of motion considered constraints to guarantee no collision between the members and the members and obstacles along the motion pat...
متن کاملPath Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کامل