- Tytuł:
- Control of a planar robot in the flight phase using transverse function approach
- Autorzy:
-
Pazderski, D.
Kozłowski, K. - Powiązania:
- https://bibliotekanauki.pl/articles/201212.pdf
- Data publikacji:
- 2015
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
transverse functions
hopping robot
space manipulator
nonholonomic system
control motion task
systems on Lie groups
skaczący robot
manipulator przestrzenny
nieholonomiczny układ - Opis:
- This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 759-770
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł