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The influence of friction forces on the dynamics of a two-link mobile robot

✍ Scribed by F.L. Chernous’ko; M.M. Shunderyuk

Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
383 KB
Volume
74
Category
Article
ISSN
0021-8928

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✦ Synopsis

Controlled periodic motions of a planar two-link robot in a horizontal plane when there is dry friction are considered. The two-link is controlled by means of an internal torque applied to the joint connecting the links. The dynamics of the two-link, taking into account the influence of friction forces and the constrained nature of the control torque, is analysed assuming that the angle between the links is small. The conventional locomotion algorithm of a two-link is modified to ensure rectilinear displacement of the two-link. The influence of various geometrical and mechanical parameters of the system on the average rate of locomotion and on the power consumption during the motion of the two-link robot in a plane is investigated.

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