Path planning and control of a centrifugal-force mini-robot (Master thesis)

Δημητριάδης, Σωκράτης

During the last decades, mini/micro-robotic systems have become very popular in robotic applications and international research in Robotics. Micro or mini-robotic mechanisms are sometimes the only available mean, in cases like reaching/working in micrometric dimensions or ones that demand extremely accurate movements. This necessity of mini/micro-robotic mechanisms and the difficulty in their applications led, a few years ago, to designing a mini-robotic mechanism with centrifugal actuators, in order to affect the trend towards piezoelectric ones. In this work, we tried to study and thoroughly understand the nature and the behavior of the specific mini-robotic mechanism during operation, used some methods for trajectory planning to guide it to a desired point on the plane and controlling its position to track these trajectories. A simulator of this mechanism was designed, using the dynamic and kinetic model of the platform and taking all its technical features into consideration. The trajectory is being generated using square/cubic polynomials of time, in order to create a trajectory between the initial and the desired configuration. The control algorithm uses specific angles of interest, so to find the shortest way of reaching the desired configuration, moving either forwards or backwards. The control law depends on the vertical difference between the current configuration and the desired one. The whole project was developed in MATLAB and in Robot Operating System (ROS) and the simulation trials were executed there as well.
Institution and School/Department of submitter: Πανεπιστήμιο Ιωαννίνων. Πολυτεχνική Σχολή. Τμήμα Μηχανικών Ηλεκτρονικών Υπολογιστών και Πληροφορικής
Subject classification: Centrifugal force
Keywords: Μικρορομποτικοί μηχανισμοί,Φυγοκεντρικοί επενεργητές,Σχεδιασμός τροχιάς/δρόμου,Mini-robots,Centrifugal force actuators,Trajectory path planning
Appears in Collections:Διατριβές Μεταπτυχιακής Έρευνας (Masters)

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