Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
480109 | Engineering | 2015 | 7 Pages |
Abstract
ABSTRACTThis 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 capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Science (General)
Authors
Kostas Vlachos, Dimitris Papadimitriou, Evangelos Papadopoulos,