Transactions of FAMENA, Vol. 42 No. 2, 2018.
Izvorni znanstveni članak
https://doi.org/10.21278/TOF.42205
Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot
Xingbo Wang
; College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China; Shanghai Key Laboratory of spacecraft mechanism , Shanghai , China
Xiaotao Wang
; College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Zhongpeng Zhang
; College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Sažetak
The 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller.
Ključne riječi
12-tetrahedral robot; environment sensing; dynamical modelling; decentralized adaptive controller
Hrčak ID:
203830
URI
Datum izdavanja:
16.7.2018.
Posjeta: 1.597 *