Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
S. A. Tafrishia, Y. Baib, M. Svininb, E. Esmaeilzadehc, M. Yamamotoa
a Faculty of Engineering, Kyushu University,
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
b College of Information Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan
c Department of Mechanical Engineering, University of Tabriz,
Bahman Blvd. 29, Tabriz 51666-14766, Iran
In this paper, the rest-to-rest motion planning problem of a fluid-actuated spherical robot is studied. The robot is driven by moving a spherical mass within a circular fluid-filled pipe fixed internally to the spherical shell. A mathematical model of the robot is established and two inverse dynamics-based feed-forward control methods are proposed. They parameterize the motion of the outer shell or the internal moving mass as weighted Beta functions. The feasibility of the proposed feed-forward control schemes is verified under simulations.
inverse dynamics, motion planning, spherical robots, fluid actuator
|Japan Science and Technology Agency ERATO
|This research was supported, in part, by the Japan Science and Technology Agency, the JST Strategic
International Collaborative Research Program, Project No. 18065977.
PDF file (733 kB)
MSC: 70F25, 70E60, 70Q05
S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto, “Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”, Nelin. Dinam., 15:4 (2019), 611–622
Citation in format AMSBIB
\by S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto
\paper Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot
\jour Nelin. Dinam.
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