Maximization of Average Velocity of Vibratory Robot (with One Restriction on Acceleration)статья
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Дата последнего поиска статьи во внешних источниках: 9 марта 2017 г.
Аннотация:The subject of the study is control synthesis for a vibratory robot, which is presented by a rigid box with a pendulum inside it. The robot can move forward and backward and there is a Coulomb friction between the box and the surface. There are considered certain constraints of motion of the robot and limitations of control. In this paper, there is shown that the proposed control not only provides motion within the constraints and limitations but also maximizes average velocity of the robot. This control contains two phases on each period: resting phase where the box is standing still and gliding phase where the robot is moving forward. To show the advantages of the proposed solution there is provided numerical comparison between different types of control. Numerical experiments also show that the considered control appears to be energetically efficient.