|Trajectory Synthesis and Optimization of an Underactuated Microrobotic System with Dynamic Constraints and Couplings
Pengcheng Liu, Hongnian Yu*, and Shuang Cang
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2373-2383, 2018
Abstract : "Motivated by the desire to optimally control the friction-induced stick-slip locomotion and sufficiently
improve the energy efficacy, a novel trajectory synthesis and optimization scheme is proposed in this paper for a
underactuated microrobotic system with dynamic constraints and couplings. The nonlinear microrobotic model utilizes
combined tangential-wise and normal-wise vibrations for underactuated locomotion, which features a generic
significance for the studies on microrobotic systems. Specifically, an analytical two-stage velocity trajectory is
constructed under control indexes and physical constraints. Subsequently, the dynamic coupling behavior and the
qualitative variation laws are characterized through rigorous bifurcation analysis. The synthesized trajectory is optimized
and tuned via rigorous analysis based on the robot dynamics. The proposed trajectory planning mechanism
provides a promising approach in determining the optimal viscoelastic parameters and trajectory parameters such
that the optimal locomotion indexes can be met. Simulation results are presented to demonstrate the efficacy and
feasibility of the proposed scheme."
Optimization, trajectory synthesis, underactuated system, vibro-driven microrobot, viscoelasticity.