Nonholonomic Control for an Assembled Microcrawler
Nonholonomic Control for an Assembled Microcrawler
复制标题
装配式微型爬行器的非完整控制
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
D. Popa
中科院分区：
文献类型：
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作者：
R. Murthy;Aditya N. Das;D. Popa
摘要本文介绍了基于MEMS的ARRIpede爬行机器人的建模和非完整控制。ARRIpede属于我们实验室目前正在研究的亚厘米尺寸、高精度纳米定位和纳米操作机器人家族。在其目前的运动学配置中，ARRIpede能够在三个自由度（XY θ）内进行平面运动，总体积为1 cm 3，重量为4.5 g，包括其MEMS微机械关节和背包电子设备。微机械部件的构造使用传统的光刻制造工艺和自动化微组装的组合。微型机器人使用步态序列驱动，该步态序列将功率复用到其腿部致动器并产生增量粘滑运动。为了有效地预测和控制机器人的位置，由于腿阵列的运动产生的动态矢量场制定使用集总动力学模型和实验观察的组合。模拟得到的非完整模型预测微型履带速度高达3毫米/秒的现实假设下，匹配的实验观察。提出了一种基于该模型的闭环粗精控制方案，采用视觉和激光位移传感器相结合。
Abstract This paper presents the modeling and nonholonomic control of the ARRIpede, MEMS based crawling robot. The ARRIpede belongs to a family of sub-cm size, high precision nano positioning and nano manipulation robots currently being investigated in our lab. In its current kinematic configuration, the ARRIpede is capable of planar motions within three degrees of freedom ( XY θ), occupies a total volume of 1cm 3 , and weighs 4.5 g, including its MEMS micromechanical joints and backpack electronics. The micromechanical components are constructed using a combination of conventional lithographical fabrication processes and automated microassembly. The microrobot is actuated using a gait sequence which multiplexes power to its leg actuators and generates incremental stick-slip motion. In order to effectively predict and control the position of the robot, the dynamical vector field generated due to the motion of the leg-array is formulated using a combination of lumped dynamic models and experimental observations. Simulations of the resulting nonholonomic model predict microcrawler velocities up to 3 mm/s under realistic assumptions, matching experimental observations. A closed-loop coarse-fine control scheme based on this model is proposed using a combination of vision and laser displacement sensors.