Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation

Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation

This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capab...

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Bibliographic Details
Main Authors: Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos
Format: Article
Language:English
Published: Elsevier 2015-03-01
Series:Engineering
Subjects:
microrobotics
vibration micromotor
actuation nonholonomic planning
nonholonomic constraints compensation
Online Access:http://www.sciencedirect.com/science/article/pii/S2095809916300467

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