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Trajectory Synthesis and Optimization of an Underactuated Microrobotic System with Dynamic Constraints and Couplings

Liu, Pengcheng; Yu, Hongnian; Cang, Shuang


Pengcheng Liu

Shuang Cang


Motivated by the desire to optimally control the friction-induced stick-slip locomotion and sufficiently improve the energy efficacy, a novel trajectory synthesis and optimization scheme is proposed in this paper for a underactuated microrobotic system with dynamic constraints and couplings. The nonlinear microrobotic model utilizes combined tangential-wise and normal-wise vibrations for underactuated locomotion, which features a generic significance for the studies on microrobotic systems. Specifically, an analytical two-stage velocity trajectory is constructed under control indexes and physical constraints. Subsequently, the dynamic coupling behavior and the qualitative variation laws are characterized through rigorous bifurcation analysis. The synthesized trajectory is optimized and tuned via rigorous analysis based on the robot dynamics. The proposed trajectory planning mechanism provides a promising approach in determining the optimal viscoelastic parameters and trajectory parameters such that the optimal locomotion indexes can be met. Simulation results are presented to demonstrate the efficacy and feasibility of the proposed scheme.

Journal Article Type Article
Acceptance Date Feb 22, 2018
Online Publication Date Jul 25, 2018
Publication Date 2018-10
Deposit Date Jun 18, 2022
Journal International Journal of Control, Automation and Systems
Print ISSN 1598-6446
Electronic ISSN 2005-4092
Publisher Springer
Peer Reviewed Peer Reviewed
Volume 16
Issue 5
Pages 2373-2383
Keywords Optimization, trajectory synthesis, underactuated system, vibro-driven microrobot, viscoelasticity
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