Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators

Vartholomeos, P; Papadopoulos, E

dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:43:56Z
dc.date.available	2014-03-01T02:43:56Z
dc.date.issued	2006	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31560
dc.subject	Feedback control	en
dc.subject	Micro-positioning	en
dc.subject	Micro-robot	en
dc.subject.other	Actuators	en
dc.subject.other	Computer simulation	en
dc.subject.other	Feedback control	en
dc.subject.other	Force measurement	en
dc.subject.other	Position control	en
dc.subject.other	Synchronous machinery	en
dc.subject.other	Centripetal force	en
dc.subject.other	Micro positioning	en
dc.subject.other	Micro robots	en
dc.subject.other	Micromotor designs	en
dc.subject.other	Intelligent robots	en
dc.title	Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2006.1641784	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2006.1641784	en
heal.identifier.secondary	1641784	en
heal.publicationDate	2006	en
heal.abstract	This paper presents the motion analysis, design and position control of a novel, low cost, sliding micro-robot, which is actuated by centripetal forces generated by robot mounted vibration micro-motors. A new, two-micromotor design of the platform is presented, that improves system energy efficiency, and further does not necessitate for synchronous actuator operation and robot symmetry. The motion behavior of the micro-robot, for asynchronous actuation operation, is expressed analytically and simulation results are presented. A control strategy for microrobot x, θz position control that employs two motor speed controllers, and a platform position controller is designed. The control system performance is evaluated through the simulation of a successful trajectory tracking task. A prototype of the micro-robot has been constructed and is presented. © 2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2006.1641784	en
dc.identifier.volume	2006	en
dc.identifier.spage	649	en
dc.identifier.epage	654	en