Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation

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外文摘要：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.

外文关键词：

microroboticsvibration micromotoractuation nonholonomic planningnonholonomic constraints compensation

作者：

Kostas Vlachos、Dimitris Papadimitriou、Evangelos Papadopoulos

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作者单位：

Department of Computer Science and Engineering, University of loannina, 45110 loannina, Greece

Department of Mechanical Engineering, National Technical University of Athens, 15780 Zografou, Athens, Greece

出版年：

2015

DOI：

10.15302/J-ENG-2015016