Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Bai, Y., Svinin, M., Esmaeilzadeh, E. and Yamamoto, M. 2019. Inverse dynamics-based motion control of a fluid-actuated rolling robot. Nelineinaya Dinamika 15 (4) 10.20537/nd190420 |
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Official URL: http://dx.doi.org/10.20537/nd190420
Abstract
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.
Item Type: | Article |
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Status: | Published |
Schools: | Engineering |
ISSN: | 2658-5324 |
Date of First Compliant Deposit: | 24 January 2023 |
Date of Acceptance: | 14 June 2018 |
Last Modified: | 03 May 2023 07:22 |
URI: | https://orca.cardiff.ac.uk/id/eprint/156215 |
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