| Title |
Analysis of planned motion trajectories for scalable micro-robots |
| Authors |
Bansevičius, Ramutis ; Drukteinienė, Asta ; Kulvietis, Genadijus ; Bakanauskas, Vytautas |
| Full Text |
|
| Is Part of |
Journal of Vibroengineering.. Kaunas : Vibromechanika. 2013, vol. 15, iss. 1, art. no. 942, p. 239-246.. ISSN 1392-8716 |
| Keywords [eng] |
micro-robot ; path-planning algorithms ; optimal orientation angle ; minimum deflection |
| Abstract [eng] |
Prototypes of micro-robots and geometric path planning algorithms are presented in this paper. Geometric motion trajectories are generated by switching contacts, control points and tangents methods. Analysis of high-speed formation of trajectories using switching contacts method revealed that the geometric path depends on orientation angle of a micro-robot. Investigation of formation of high-precision trajectories demonstrated that there is minimal deviation from the given motion trajectory at which micro-robot stops. This paper presents methodologies for evaluation of optimal orientation angle of a micro-robot and minimum deflection from the given trajectory. The methodologies are verified by experiments. |
| Published |
Kaunas : Vibromechanika |
| Type |
Journal article |
| Language |
English |
| Publication date |
2013 |
| CC license |
|
