在追击和击中移动目标的问题中控制带摆式执行器的球形机器人的算法

Q3 Engineering

Russian Engineering Research Pub Date : 2024-06-26 DOI:10.3103/s1068798x2470076x

E. A. Mikishanina

{"title":"在追击和击中移动目标的问题中控制带摆式执行器的球形机器人的算法","authors":"E. A. Mikishanina","doi":"10.3103/s1068798x2470076x","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>An algorithm is developed to control a spherical robot with a pendulum actuator through servo constraints, generating the necessary control torque. Servo constraints set a motion program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot constructed on the basis of numerical integration are considered. Their length and time to hit the target are determined.</p>","PeriodicalId":35875,"journal":{"name":"Russian Engineering Research","volume":"44 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Algorithm for Controlling a Spherical Robot with a Pendulum Actuator in the Problem of Pursuing and Hitting a Moving Target\",\"authors\":\"E. A. Mikishanina\",\"doi\":\"10.3103/s1068798x2470076x\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<h3 data-test=\\\"abstract-sub-heading\\\">Abstract</h3><p>An algorithm is developed to control a spherical robot with a pendulum actuator through servo constraints, generating the necessary control torque. Servo constraints set a motion program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot constructed on the basis of numerical integration are considered. Their length and time to hit the target are determined.</p>\",\"PeriodicalId\":35875,\"journal\":{\"name\":\"Russian Engineering Research\",\"volume\":\"44 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Russian Engineering Research\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3103/s1068798x2470076x\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Russian Engineering Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3103/s1068798x2470076x","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}

引用次数: 0

摘要

摘要开发了一种算法，通过伺服约束控制带有摆动执行器的球形机器人，产生必要的控制扭矩。伺服约束设定了一个运动程序，使机器人能够追逐移动目标直至击中目标。机器人的直线和曲线轨迹是在数值积分的基础上构建的。它们的长度和击中目标的时间都是确定的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Algorithm for Controlling a Spherical Robot with a Pendulum Actuator in the Problem of Pursuing and Hitting a Moving Target

查看原文本刊更多论文

Algorithm for Controlling a Spherical Robot with a Pendulum Actuator in the Problem of Pursuing and Hitting a Moving Target

Abstract

An algorithm is developed to control a spherical robot with a pendulum actuator through servo constraints, generating the necessary control torque. Servo constraints set a motion program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot constructed on the basis of numerical integration are considered. Their length and time to hit the target are determined.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Russian Engineering Research Engineering-Industrial and Manufacturing Engineering

CiteScore

1.20

自引率

0.00%

发文量

226

期刊介绍： Russian Engineering Research is a journal that publishes articles on mechanical and production engineering. The journal covers the development of different branches of mechanical engineering, new technologies, and tools for machine and materials design. Emphasis is on operations research and production-line layout, industrial robots and manipulators, quality control and process engineering, kinematic analysis of machine assemblies, and computerized integrated manufacturing systems.