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Construction of control algorithm in the problem of the planar motion of a friction-powered robot with a flywheel and an eccentric weight
Applied Mathematical Modelling ( IF 5 ) Pub Date : 2021-01-01 , DOI: 10.1016/j.apm.2020.08.022
Marat Dosaev , Vitaly Samsonov , Shyh-Shin Hwang

Abstract A robot supported by two points on a supporting rough plane is considered. The robot is driven by displacement of internal masses and friction against the surface of the support. The robot body contains two motors that rotate one unbalanced rotor (eccentric weight) and one flywheel. A mathematical model of a plane-parallel robot motion is constructed. Friction is modeled using Coulomb's law. The angular accelerations of the rotor and the flywheel are used as control functions. A technique is proposed for evaluating the coefficient of friction between the robot body and the supporting plane. An algorithm for controlling the motion of the robot body in the desired direction using the obtained value of the coefficient of friction is proposed. An estimate of the implementation time of the algorithm is given. To assess the achievable body speed, a numerical calculation is implemented. The rectilinear translational motion of the body is carried out for the selected set of parameters in a wide range of friction coefficients. It is shown that an increase in friction increases the acceleration efficiency.

中文翻译:

带飞轮偏心重块摩擦动力机器人平面运动问题的控制算法构建

摘要 考虑在支撑粗糙平面上由两点支撑的机器人。机器人由内部质量的位移和支撑表面的摩擦驱动。机器人本体包含两个电机,用于旋转一个不平衡转子(偏心重块)和一个飞轮。构建了平面平行机器人运动的数学模型。摩擦使用库仑定律建模。转子和飞轮的角加速度用作控制函数。提出了一种评估机器人主体和支撑平面之间摩擦系数的技术。提出了一种使用获得的摩擦系数值来控制机器人身体在所需方向上的运动的算法。给出了算法实现时间的估计。为了评估可达到的车身速度,实施了数值计算。主体的直线平移运动是针对大范围摩擦系数中的选定参数集执行的。结果表明,摩擦力的增加会提高加速效率。
更新日期:2021-01-01
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