Control of motion of an actively caterpillar-bending body
Tóm tắt
Equations of kinematics and dynamics of spanworm-bending body are deduced. An integral equation of bending moment distribution that controls the motion of parts of the body by current values of three kinematic parameters is derived. As is shown, the control of motion is conducted according to programs of motor commands that specify values of parameters. Special features of control in different motion problems are described.
Tài liệu tham khảo
Litvinstev, A.I., Control of Motion of an Actively Bending Body in Precsribed Channesl with Viscous Friction, Avtom. Telemekh., 2001, no. 8, pp. 179–187.
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