Position and inclination control of a passive disk based on cyclic motion generation

doi:10.1186/s40648-016-0071-1

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Position and inclination control of a passive disk based on cyclic motion generation
	Aoyama,Tadayoshi 1; Gu,Qingyi2 ; Takaki,Takeshi 1; Ishii,Idaku 1
发表期刊	ROBOMECH Journal
ISSN	2197-4225
	2017-01-03
卷号	4 期号:1
通讯作者	Aoyama,Tadayoshi(aoyama@robotics.hiroshima-u.ac.jp)
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.
关键词	Cyclic motion Nonlinear discrete system Manipulation
DOI	10.1186/s40648-016-0071-1
语种	英语
WOS记录号	BMC:10.1186/s40648-016-0071-1
出版者	Springer International Publishing
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/24449
专题	中科院工业视觉智能装备工程实验室_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).