Dynamics and motion control of a chain of particles on a rough surface
Dynamics and motion control of a chain of particles on a rough surface
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DOI：
10.1016/j.ymssp.2016.11.001
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发表时间：
2017-05
影响因子：
8.4
通讯作者：
C. Behn;F. Schale;I. Zeidis;K. Zimmermann;N. Bolotnik
中科院分区：
文献类型：
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作者：
C. Behn;F. Schale;I. Zeidis;K. Zimmermann;N. Bolotnik
本文研究了具有运动约束的三粒子直线链的运动力学和控制问题。地面接触用干摩擦（不连续摩擦）或粘摩擦（连续摩擦）来描述。在这里，我们将该模型理解为设计蠕虫状运动系统（即无踏板移动机器人）的方法学基础。这种机器人将被证明是一种有效的运动形式，应用于管道检查或救援任务。本文讨论了人工无肢运动系统的动力学和控制问题。无肢机器人最简单的模型是沿水平直线运动的两体或三体系统。在本文的第一部分中，控制被假定为平均为零的周期函数的形式，在相位1上相互移位。因此，沿着粒子链有一个行波。第二部分讨论了致动器模型。假设存在未知的作动器数据或蜗杆系统参数也不知道或不准确。重点是对类蠕虫运动系统的自适应控制算法，以跟踪给定的参考轨迹，如运动学步态。最后给出了样机及其信号处理和控制软件。理论（分析和数值）计算结果的移动系统的动力行为与实验数据进行了比较。
In this paper the mechanics and control of the motion of a straight chain of three particles interconnected with kinematical constraints are investigated. The ground contact is described by dry (discontinuous) or viscous (continuous) friction. Here, we understand this model as a methodological basis for the design of worm-like locomotion systems, i.e., non-pedal mobile robots. This kind of robots will prove an efficient form of locomotion in application to inspection of pipes or for rescue missions. In this paper, a number of issues related to the dynamics and control of artificial limbless locomotion systems are discussed. Simplest models of a limbless locomotor are two-body or three-body systems that move along a horizontal straight line. In the first part of the paper, the controls are assumed in the form of periodic functions with zero average, shifted on a phase one concerning each other. Thus, there is a traveling wave along the chain of particles. In the second part, actuator models are discussed. It is supposed that there are unknown actuator data or the worm system parameter are not known or exactly as well. The focus is on adaptive control algorithms for the worm-like locomotion systems in order to track given reference trajectories, like kinematic gaits. Finally, a prototype together with its signal processing and control software is presented. Theoretically (analytically and numerically) calculated results of the dynamical behavior of the mobile system are compared to experimental data.