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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 Аннотация: 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. Ключевые слова: inverse dynamics, motion planning, spherical robots, fluid actuator
DOI: https://doi.org/10.20537/nd190420   Полный текст:
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Тип публикации: Статья MSC: 70F25, 70E60, 70Q05 Поступила в редакцию: 05.06.2019 Принята в печать:20.11.2019 Язык публикации: английский Образец цитирования: S. A. Tafrishi, Y. Bai, M. Svinin, E. Esmaeilzadeh, M. Yamamoto, “Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot”, Нелинейная динам., 15:4 (2019), 
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