Algorithm for controlling an inertioid robot with a flywheel and an unbalance in conditions of restrictions on the angular acceleration of the unbalance

DOI10.1016/J.APM.2022.05.021MaRDI QIDQ2109752zbMATH OpenOpenAlexWikidataFDO

Authors Marat Z. Dosaev

Publication date 21 December 2022

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2022.05.021

zbMATH Keywords

mathematical modelcontrol algorithmcontrol constraintvibration robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Mathematical modeling or simulation for problems pertaining to systems and control theory (93-10)

Cites work

• Capsule-type vibration-driven robot with an electromagnetic actuator and an opposing spring: dynamics and control of motion
• Construction of control algorithm in the problem of the planar motion of a friction-powered robot with a flywheel and an eccentric weight
• Dynamics of a two-module vibration-driven system moving along a rough horizontal plane
• Features of interaction of a brake shoe with a wheel
• Method for forming autorotations in controllable mechanical system with two degrees of freedom
• On the control of a robot ball using two omniwheels
• On the motion of a body with a moving internal mass on a rough horizontal plane
• Optimal control of rotation of a rigid body by a movable internal mass
• Optimal control of vibrationally excited locomotion systems
• Planar locomotion of a vibration-driven system with two internal masses
• Rotation of the body with movable internal masses around the center of mass on a rough plane
• Two- and three-dimensional motions of a body controlled by an internal movable mass

Cited in

(2)

• Organizing the rotation of the body of a vibration robot around the vertical
• On the skating motion of a robot controlled by an internal flywheel

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