Development and Research of Selectively Invariant Electromechanical Systems with the Adaptation of Regulators to Velocity Level Changes

2020 ◽  
Vol 59 (5) ◽  
pp. 669-683
Author(s):  
V. V. Apolonskii ◽  
L. G. Kopylova ◽  
S. V. Tararykin
Keyword(s):  
Electromechanical Systems ◽  
Velocity Level

scholarly journals Normal form approach in the motion planning of space robots: a case study

2021 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Katarzyna Zadarnowska
Keyword(s):  
Normal Form ◽  
Motion Planning ◽  
Normal Forms ◽  
Inverse Dynamics ◽  
Planning Problem ◽  
Inverse Dynamics Problem ◽  
Velocity Level ◽  
Form Approach ◽  
Space Approach

AbstractWe examine applicability of normal forms of non-holonomic robotic systems to the problem of motion planning. A case study is analyzed of a planar, free-floating space robot consisting of a mobile base equipped with an on-board manipulator. It is assumed that during the robot’s motion its conserved angular momentum is zero. The motion planning problem is first solved at velocity level, and then torques at the joints are found as a solution of an inverse dynamics problem. A novelty of this paper lies in using the chained normal form of the robot’s dynamics and corresponding feedback transformations for motion planning at the velocity level. Two basic cases are studied, depending on the position of mounting point of the on-board manipulator. Comprehensive computational results are presented, and compared with the results provided by the Endogenous Configuration Space Approach. Advantages and limitations of applying normal forms for robot motion planning are discussed.

scholarly journals Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

Robotica ◽  
2020 ◽  
pp. 1-17
Author(s):  
Wenzhong Yan ◽  
Ankur Mehta
Keyword(s):  
Low Cost ◽  
Integrated Design ◽  
Single Layer ◽  
Constant Current ◽  
Electromechanical Systems ◽  
Robot Controller ◽  
Electrical Oscillation ◽  
Robotic Devices ◽  
Sewing Threads ◽  
Polyester Film

SUMMARY To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g., polyester film) and conductive sewing threads. To demonstrate our strategy’s feasibility, these techniques are successfully integrated into an electromechanical oscillator (about 0.40 USD), which can generate electrical oscillation under constant-current power and potentially be used as a simple robot controller in lieu of additional external electronics.

Piezo-controlled microwave devices

2009 ◽  
Vol 1 (1) ◽  
pp. 49-56 ◽  
Author(s):  
Yuriy M. Poplavko ◽  
Vitally I. Molchanov ◽  
Yuriy I. Yakimenko
Keyword(s):  
Millimeter Wave ◽  
Microwave Devices ◽  
Electromechanical Systems ◽  
Telecommunication Systems ◽  
Collision Prevention ◽  
Microwave Components ◽  
Frequency Agile

At present, millimeter wave fast tunable components are required for telecommunication systems, car collision prevention radar, etc. The only mechanical way of control inserts practically no loss in the frequency agile system. That is why micro-electromechanical systems devices are being studied intensively. In an overview, an alternative way – piezo-electromechanical tuning of microwave components – is reported.

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