Optimal Motions of Bodies Controlled by Internal Moving Masses
| Autor: | Felix L. Chernousko |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Physics
Resistive touchscreen Spacecraft business.industry Dry friction 02 engineering and technology Mechanics 01 natural sciences 010305 fluids & plasmas Computer Science::Robotics 020303 mechanical engineering & transports 0203 mechanical engineering Control and Systems Engineering 0103 physical sciences Robot business |
| Zdroj: | IFAC-PapersOnLine. 51:1-6 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.11.343 |
| Popis: | Locomotion of robots in a resistive medium can be based on special motions of auxiliary internal masses inside the main body of the robot. This locomotion principle is used in micro-robots and vibro-robots moving in tubes. In the paper, optimal motions of systems controlled by internal moving masses are considered. One-dimensional optimal motions are examined for systems moving in the presence of dry friction forces. Two-dimensional motions are considered for bodies subject to dry friction and containing internal moving masses. Optimal motions of a two-body system are obtained for the case where external forces are negligible. This situation is a model for the re-orientation of a spacecraft containing a moving internal mass. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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