A Geometric Approach to Decouple Robotino Motions and its Functional Controllability
Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › begutachtet
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in: Journal of Physics: Conference Series, Jahrgang 659, Nr. 1, 012027, 19.11.2015.
Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › begutachtet
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TY - JOUR
T1 - A Geometric Approach to Decouple Robotino Motions and its Functional Controllability
AU - Straßberger, Daniel
AU - Mercorelli, Paolo
AU - Sergiyenko, Oleg Yu
N1 - Publisher Copyright: © Published under licence by IOP Publishing Ltd.
PY - 2015/11/19
Y1 - 2015/11/19
N2 - This paper analyses a functional control of the Robotino. The proposed control strategy considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.
AB - This paper analyses a functional control of the Robotino. The proposed control strategy considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.
KW - Engineering
UR - http://iopscience.iop.org/article/10.1088/1742-6596/659/1/012027
UR - http://www.scopus.com/inward/record.url?scp=84959058195&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/659/1/012027
DO - 10.1088/1742-6596/659/1/012027
M3 - Conference article in journal
VL - 659
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
SN - 1742-6588
IS - 1
M1 - 012027
ER -