Dynamic Modeling, Control and Simulation with Slip for an Omnidirectional Mobile Microrobot

  • Authors:

  • Yiliang Jin;Jiapin Chen;Zhenbo Li

  • Affiliations:

  • Key laboratory for Thin Film and Microfabrication of Ministry of Education, Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University, Shanghai, China 200240;Key laboratory for Thin Film and Microfabrication of Ministry of Education, Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University, Shanghai, China 200240;Key laboratory for Thin Film and Microfabrication of Ministry of Education, Institute of Micro/Nano Science and Technology, Shanghai Jiaotong University, Shanghai, China 200240

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
  • Year:
  • 2008

Quantified Score

Hi-index 0.00

Visualization

Abstract

This paper investigates the nonlinear dynamic model of a millimeters-size omnidirectional mobile microrobot used for micro-assembly task, where the wheel/motion surface slip is considered. Some detailed factors are also taken into account for the micro size of the wheeled microrobot. Several dynamic simulation examples are presented here to demonstrate the deviation caused by the slip. After that, a vision feedback based control method is presented to reduce the deviation with the feedback of vision system.