Control of Locomotion in a Two-Leg Robot with Uncertain Frictional Effects

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Khodabakhsh, Mohammad | 2010

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41804 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vosoughi, Golamreza
Abstract:
Microrobots design and manufacturing has been one of interesting fields in robotics in recent decades. They have been designed in various types so far. In this paper a two-leg microrobot is simulated and controlled by using LuGre friction model.
The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. The piezoelectric is actuated by a frequency near the natural frequency of the robot. The nonlinear dynamical equations of the system are obtained considering LuGre friction model. To control the system, the equations of motion are linearized using feedback linearization method. Then a stabilizing control law is designed and the robot model is simulated. The results show that by controlling the input voltage of the piezoelectric the moving speed of the robot can be effectively controlled and the proposed controller has good performance in controlling of the robot's motion. Finally The robustness of controller respect friction coefficients uncertainty has been analyzed
Keywords:
Kinematics ; Piezoelectric ; Control ; Micro Robot

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