Position and inclination control of a passive disk based on cyclic motion generation
文献类型：期刊论文
| 作者 | Aoyama,Tadayoshi1; Gu,Qingyi2 ; Takaki,Takeshi1; Ishii,Idaku1
|
| 刊名 | ROBOMECH Journal
 |
| 出版日期 | 2017-01-03 |
| 卷号 | 4期号:1 |
| 关键词 | Cyclic motion Nonlinear discrete system Manipulation |
| ISSN号 | 2197-4225 |
| DOI | 10.1186/s40648-016-0071-1 |
| 通讯作者 | Aoyama,Tadayoshi(aoyama@robotics.hiroshima-u.ac.jp) |
| 英文摘要 | AbstractWe propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object’s orientation using an active plate. In the work, stable plate cyclic motion is designed and inclination control of the object is realized. However, the object’s position is not considered, so there is a possibility that the object could move. Using our plate trajectory design we can control not only the passive object’s inclination but also its position. We verify that the designed plate motion can control both the object’s inclination and its position through dynamics simulation. A stability analysis around a fixed point is conducted using a Poincaré return map, demonstrating that fixed points are asymptotically stable. |
| 语种 | 英语 |
| WOS记录号 | BMC:10.1186/S40648-016-0071-1 |
| 出版者 | Springer International Publishing |
| 源URL | [http://ir.ia.ac.cn/handle/173211/24448]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 中国科学院自动化研究所 |
| 通讯作者 | Aoyama,Tadayoshi |
| 作者单位 | 1.Hiroshima University; Department of System Cybernetics 2.Chinese Academy of Sciences; Research Center of Precision Sensing and Control Institute of Automation |
| 推荐引用方式 GB/T 7714 | Aoyama,Tadayoshi,Gu,Qingyi,Takaki,Takeshi,et al. Position and inclination control of a passive disk based on cyclic motion generation[J]. ROBOMECH Journal,2017,4(1). |
| APA | Aoyama,Tadayoshi,Gu,Qingyi,Takaki,Takeshi,&Ishii,Idaku.(2017).Position and inclination control of a passive disk based on cyclic motion generation.ROBOMECH Journal,4(1). |
| MLA | Aoyama,Tadayoshi,et al."Position and inclination control of a passive disk based on cyclic motion generation".ROBOMECH Journal 4.1(2017). |
入库方式： OAI收割
来源：自动化研究所
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