Dynamic Analysis and Control of a Vibration-Driven Robot

Vibration-driven robots are rather simple robots that utilize simple mechanism and techniques, such as springs, unbalanced rotors and most importantly friction, to track through a diverse range of surfaces, such as flat, even or uneven surfaces e.g. soil and sandy grounds. They can vary drastically in size and weight; however, they share a common feature, consisting of at least two larger masses interconnected by a spring and have at least one rotating vertical platform, which propels them in their desired direction. This paper is devoted to the dynamic analysis and velocity control of this type of robot. For this purpose, the differential equations governing a vibration-driven robot are derived and also verified by comparing results obtained by solving the equations in MATLAB with the corresponding results obtained using MSC ADAMS software. Then, a PID controller is designed for velocity control of the robot and itsrobustness in the presence of sensor noise, actuator disturbance and parameter uncertainty is investigated

کلیدواژه ها:

Vibration-Driven Robot ، PID-Control ، Robustness analysis