Cyclic Motion Design and Analysis for a Passive Object Manipulation Using an Active Plate
Cyclic Motion Design and Analysis for a Passive Object Manipulation Using an Active Plate
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使用主动板进行被动物体操纵的循环运动设计和分析
DOI：
10.1080/01691864.2015.1024737
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发表时间：
2015
影响因子：
2
通讯作者：
and Idaku Ishii
中科院分区：
文献类型：
--
作者：
Tadayoshi Aoyama;Yuji Harada;Qingyi Gu;Takeshi Takaki;and Idaku Ishii
我们提出了一种利用有源板操纵被动物体的新方案。在以往的研究中，已经实现了在板上移动物体、板上物体的位置控制和杂耍的循环操作。在大多数使用平板的操作中，不考虑物体在重力方向上的运动。本研究的目的是利用活动板控制物体相对于重力方向的方向，以实现迄今为止尚未实现的物体运动。在这种情况下，翻滚娃娃被定义为物体，它是一个平面刚性球体。物体和活动板块的运动被设计成循环运动。定义了由物体角度和角速度组成的状态向量，并将循环运动表示为非线性离散系统。在设计的循环运动中寻找状态向量的不动点。利用庞卡罗图对不动点周围的稳定性进行了分析。结果表明，不动点是渐近稳定的。最后，通过实验验证了所设计的平面循环运动可以控制物体的角度。
We propose a novel scheme for manipulating a passive object using an active plate. In previous studies, cyclic manipulations that transport objects on a plate, position control of an object on a plate, and juggling have been realized. In most manipulations using plates, object motions in the direction of the gravitational force are not considered. The objective of this study is to control an object’s orientation with respect to the gravitational force direction using an active plate for realizing hitherto unrealized object motion. In this context, a tumble doll, which is a planar rigid sphere, is defined as the object. Motions of the object and active plate are designed to be cyclic. A state vector composed of the object’s angle and angular velocity is defined, and the cyclic motion is expressed as a nonlinear discrete system. Fixed points of the state vector are searched for in the designed cyclic motion. A stability analysis around the fixed points is conducted using a Poincaré map. As a result, the fixed points are shown to be asymptotically stable. Finally, experimental results are used to verify that the object’s angle can be manipulated with the designed cyclic motion using the plate.