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ICRA
2006
IEEE

Analysis, Design and Control of a Planar Micro-robot Driven by two Centripetal-force Actuators

13 years 9 months ago
Analysis, Design and Control of a Planar Micro-robot Driven by two Centripetal-force Actuators
– This paper presents the motion analysis, design and position control of a novel, low cost, sliding micro-robot, which is actuated by centripetal forces generated by robot mounted vibration micro-motors. A new, two-micromotor design of the platform is presented, that improves system energy efficiency, and further does not necessitate for synchronous actuator operation and robot symmetry. The motion behavior of the micro-robot, for asynchronous actuation operation, is expressed analytically and simulation results are presented. A control strategy for microrobot , zx position control that employs two motor speed controllers, and a platform position controller is designed. The control system performance is evaluated through the simulation of a successful trajectory tracking task. A prototype of the micro-robot has been constructed and is presented.
P. Vartholomeos, Evangelos Papadopoulos
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors P. Vartholomeos, Evangelos Papadopoulos
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