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  • 标题:Modelling and Control of a Robotic Hula–hoop System without Velocity Measurements
  • 本地全文:下载
  • 作者:Alejandro Gutiérrez–Giles ; Fabio Ruggiero ; Vincenzo Lippiello
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:9808-9814
  • DOI:10.1016/j.ifacol.2017.08.889
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe contact kinematics of a robotic hoop and a pole system is obtained by using the Montana’s equations, considering the case of contact without slipping. The resulting kinematic model is completely nonholonomic. After some mild assumptions, a set of Pfaffian constraints is established. Then, a dynamic model of the system is developed by employing the Lagrange– d’Alembert formulation. This dynamic model, which represents an underactuated mechanical system, is later used to design a controller which does not need velocity measurements. The proposed method, and its robustness against model uncertainties, is validated through numeric simulations.
  • 关键词:KeywordsMechatronic systemsMotion control systemsAutonomous robotic systemsModelling
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