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

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• 作者：Tadayoshi Aoyama ; Qingyi Gu ; Takeshi Takaki ; Idaku Ishii
• 关键词：Cyclic motion ; Nonlinear discrete system ; Manipulation
• 刊名：ROBOMECH Journal
• 出版年：2017
• 出版时间：December 2017
• 年：2017
• 卷：4
• 期：1
• 全文大小：2248KB
• 刊物类别：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computatio
• 刊物主题：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computational Intelligence;
• 出版者：Springer International Publishing
• ISSN：2197-4225
• 卷排序：4

文摘

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.