Analysis, Design and Control of a Planar Micro-robot Driven by two Centripetal-force Actuators

– 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 , zx 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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: P. Vartholomeos, Evangelos Papadopoulos
• Keywords: ICRA 2006, Position Control, Robot Mounted Vibration, Robotics, Zx Position Control