La Hera, Pedro
- Institutionen för skogens biomaterial och teknologi, Sveriges lantbruksuniversitet
Sammanfattning
We analyze the problem of dynamic non-prehensile manipulation by considering the example of the butterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering the framework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.
Nyckelord
Underactuated mechanical systems; limit cycles; virtual holonomic constraints; transverse linearization; motion planning; nonlinear control
Publicerad i
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems
2013, sidor: 2527-2532
Utgivare: IEEE
Konferens
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
SLU författare
UKÄ forskningsämne
Annan elektroteknik och elektronik
Robotik och automation
Reglerteknik
Publikationens identifierare
- DOI: https://doi.org/10.1109/IROS.2013.6696712
- ISBN: 978-1-4673-6358-7
Permanent länk till denna sida (URI)
https://res.slu.se/id/publ/67432