相关论文: Numerical Simulations of a Rolling Ball Robot Actu…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagin's minimum principle yields the ball's…
The motion of a rolling ball actuated by internal point masses that move inside the ball's frame of reference is considered. The equations of motion are derived by applying Euler-Poincar\'e's symmetry reduction method in concert with…
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the ball's frame of reference. The normal…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
Using Euler's equations of motion and the Hamiltonian formulation, we obtain the equations of motion of systems with internal angular momentum that are moving with respect to a given reference frame, when subjected to a torque which is…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
Various many-body models are treated, which describe $N$ points confined to move on a plane circle. Their Newtonian equations of motion ("accelerations equal forces") are integrable, i. e. they allow the explicit exhibition of $N$ constants…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
The problem of a disc and a ball rolling on a horizontal plane without slipping is considered. Differential constrained equations are shown to be integrated when the trajectory of the point of contact is taken in a form of the natural…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
We consider the problem of boundary control for a vibrating string with $N$ interior point masses. We assume the control is at the left end, and the string is fixed at the right end. Singularities in waves are "smoothed" out to one order as…
It is shown that an internal control based on a moving indicator function is able to stabilize the state of parabolic equations evolving in rectangular domains. For proving the stabilizability result, we start with a control obtained from…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
An optimal control problem for the continuity equation is considered. The aim of a controller is to maximize the total mass within a target set at a given type moment. An iterative numerical algorithm for solving this problem is presented.
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
In this work, we propose a mathematical model for a physical problem based on the movement of a metal piece held by a robot. Using the principles of Kirchoff plate theory, a set of equations determining stresses and deformations caused…
Bristle bots are vibration-driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during…