CASIA OpenIR
Position and inclination control of a passive disk based on cyclic motion generation
Aoyama,Tadayoshi1; Gu,Qingyi2; Takaki,Takeshi1; Ishii,Idaku1
Source PublicationROBOMECH Journal
ISSN2197-4225
2017-01-03
Volume4Issue:1
Corresponding AuthorAoyama,Tadayoshi(aoyama@robotics.hiroshima-u.ac.jp)
AbstractAbstractWe 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.
KeywordCyclic motion Nonlinear discrete system Manipulation
DOI10.1186/s40648-016-0071-1
Language英语
WOS IDBMC:10.1186/s40648-016-0071-1
PublisherSpringer International Publishing
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24449
Collection中国科学院自动化研究所
Corresponding AuthorAoyama,Tadayoshi
Affiliation1.Hiroshima University; Department of System Cybernetics
2.Chinese Academy of Sciences; Research Center of Precision Sensing and Control Institute of Automation
Recommended Citation
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).
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