Control of a planar robot in the flight phase using transverse function approach

• Autorzy: Pazderski D. , Kozłowski K.

Identyfikatory

DOI

10.1515/bpasts-2015-0087

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

transverse functions; hopping robot; space manipulator; nonholonomic system; control motion task; systems on Lie groups

PL

skaczący robot; manipulator przestrzenny; nieholonomiczny układ

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2015
• Tom: Vol. 63, nr 3
• Strony: 759--770
• Opis fizyczny: Bibliogr. 36 poz., rys., wykr.

Twórcy

autor

Pazderski D.

• Chair of Control and Systems Engineering, Poznań University of Technology, 3a Piotrowo St., 60-965 Poznań, Poland

autor

Kozłowski K.

• Chair of Control and Systems Engineering, Poznań University of Technology, 3a Piotrowo St., 60-965 Poznań, Poland

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