The mechanics and control of robotic locomotion with applications to aquatic vehicles
The mechanics and control of robotic locomotion with applications to aquatic vehicles
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机器人运动的力学和控制及其在水上交通工具中的应用
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
S. Kelly
中科院分区：
文献类型：
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作者：
S. Kelly
这项工作阐明了植根于几何力学和非线性控制的运动理论的实用性。我们把可变形物体的内部结构，连同它在周围空间中的位置和方向，看作是物体变形流形上平凡主纤维丛中的一个点。我们获得连接等束描述的非完整约束，守恒定律，力平衡，某些推进器是受，并构建和分析控制仿射规范形式为不同类别的系统。我们研究的适用性的结果，涉及几何相位的实际计算的轨迹所描述的单连接系统。我们提出了一个平面carangiform游泳模型的基础上减少欧拉-拉格朗日方程的相互作用的刚体和不可压缩流体，占的推力的产生，由于涡脱落通过控制耦合项。我们调查的正确形式，这种耦合实验与机器人推进器，比较其观察到的行为与数值预测。
This work illuminates the utility of a theory of locomotion rooted in geometric mechanics and nonlinear control. We regard the internal configuration of a deformable body, together with its position and orientation in ambient space, as a point in a trivial principal fiber bundle over the manifold of body deformations. We obtain connections on such bundles which describe the nonholonomic constraints, conservation laws, and force balances to which certain propulsors are subject, and construct and analyze control-affine normal forms for different classes of systems. We examine the applicability of results involving geometric phases to the practical computation of trajectories for systems described by single connections. We propose a model for planar carangiform swimming based on reduced Euler-Lagrange equations for the interaction of a rigid body and an incompressible fluid, accounting for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior with that predicted numerically.