Sterowanie impedancyjne w robocie skaczącym

• Autorzy: Jezierski E. , Granosik G. , Kaczmarski M.

Warianty tytułu

EN

Impedance control for hopping robot

• Języki publikacji: PL

Abstrakty

PL

Artykuł przedstawia prace projektowe związane z konstrukcją i sterowaniem robota skaczącego. Rozważany jest prosty robot o napędzie pneumatycznym oraz możliwość regulacji częstotliwości jego skoków poprzez zmianę impedancji mechanicznej napędu. Okazuje się, że zmiana sztywności cylindra pneumatycznego w sposób naturalny zmienia częstość cyklicznych skoków robota w dość szerokim zakresie. Ponadto podtrzymanie tego cyklu wymaga później dostarczania niewielkich porcji energii.

EN

The main idea of the paper is to control the frequency of jumps of a hopping robot by regulation the drive's impedance in the phase of preparation to landing. It could be done easily when the robot is equipped with the pneumatic drive system. The stiffness of the pneumatic actuator is nearly proportional to the sum of pressures in both chambers, while the generated force depends on the difference of both pressures. There are evident similarities between such an actuator and a simple electrical system in which the level of the source as well as its impedance could be controlled independently. The paper contains also the results of experiments performed on a real laboratory 1-DOF hopping robot.

Słowa kluczowe

PL

robotyka; robot mobilny; robot skaczący; sterowanie robotem; sterowanie impedancyjne; impedancja

EN

robotics; mobile robot; hopping robot; control of robot; impedance control; impedance

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2008
• Tom: z. 166, t. 1
• Strony: 185--194
• Opis fizyczny: Bibliogr. 20 poz., rys., tab., wykr.

Twórcy

autor

Jezierski E.

autor

Granosik G.

autor

Kaczmarski M.

• Politechnika Łódzka, Instytut Automatyki, ul. Stefanowskiego 18/22, 90-924 Łódź,

Bibliografia

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