Position and inclination control of a passive disk based on cyclic motion generation

ROBOMECH Journal

Tadayoshi Aoyama¹  Takeshi Takaki¹  Idaku Ishii¹  Qingyi Gu² 

[1] Department of System Cybernetics, Hiroshima University, Higashi-Hiroshima, Japan;Research Center of Precision Sensing and Control Institute of Automation, Chinese Academy of Sciences, Beijing, China

关键词: Cyclic motion;    Nonlinear discrete system;    Manipulation;   

DOI  :  10.1186/s40648-016-0071-1

学科分类：人工智能

来源: Springer

【 摘 要 】

We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object’s orientation using an active plate. In the work, stable plate cyclic motion is designed and inclination control of the object is realized. However, the object’s position is not considered, so there is a possibility that the object could move. Using our plate trajectory design we can control not only the passive object’s inclination but also its position. We verify that the designed plate motion can control both the object’s inclination and its position through dynamics simulation. A stability analysis around a fixed point is conducted using a Poincaré return map, demonstrating that fixed points are asymptotically stable.

【 授权许可】

CC BY