Periodic Regime of Motion of a Vibratory Robot under a Control Constraint

摘要

A class of motions of a vibratory robot consisting of a body with a pendulum inside it, on the angular acceleration of which a constraint is imposed, is considered. The limits of the angular acceleration correspond to the technical characteristics of the motor providing the pendulum rotation. Some phase constraints are imposed on the system and the control is proposed which satisfies them and provides periodic motions of the robot. The control during each period consists of seven intervals; choice of control at each of them is conditioned by velocity maximization. For considered control law numerical experiments are carried out and comparison with other controls is presented.