A distributed manipulation concept using selective braking
A distributed manipulation concept using selective braking
复制标题
使用选择性制动的分布式操纵概念
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
J. McGough
中科院分区：
文献类型：
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作者：
M. Bedillion;R. Hoover;J. McGough
本文介绍了一种新的分布式操作的概念，即在一个统一的力场的作用下操作的对象被定位垂直的力场和定向有选择地施加制动力在不同的位置上的对象。我们假设制动位置不滑动，这使得物体动力学具有熟悉的摆方程形式，但是摆铰链位置作为时间的函数而变化。这种系统可以应用于零件搬运或机器人在斜坡上下降的控制。本文讨论了这样的机器人系统的动力学和顺序控制的横向对象的位置和方向。仿真结果表明了所设计控制律的有效性。
This paper introduces a new distributed manipulation concept whereby objects operating under the action of a uniform force field are positioned perpendicular to the force field and oriented by selectively applying braking forces at various locations on the object. We assume that the braking locations do not slip, which gives the object dynamics the familiar form of the pendulum equation, but with the pendulum hinge location changing as a function of time. Such a system may find applications in parts handling or in the control of robots descending on inclines. This paper discusses the dynamics of such a robotic system and the sequential control of lateral object position and orientation. Simulation results show the effectiveness of the developed control laws.