 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
|
| In English (Mech. Solids): | | 4810 |
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| << Previous article | Volume 56, Issue 8 / 2021 | Next article >> |
| F.L. Chernousko, "Controlling the Planar Motions of a Rigid Body Using a Movable Mass," Mech. Solids. 56 (8), 1461-1470 (2021) |
| Year |
2021 |
Volume |
56 |
Number |
8 |
Pages |
1461-1470 |
| DOI |
10.3103/S0025654421080057 |
| Title |
Controlling the Planar Motions of a Rigid Body Using a Movable Mass |
| Author(s) |
F.L. Chernousko (Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences, Moscow, 119526 Russia, chern@ipmnet.ru) |
| Abstract |
This work considers the controlled movements of a rigid body along a horizontal plane in
the presence of dry-friction forces between the body and the plane. Control is carried out by means of
an auxiliary point mass, equipped with an actuator and capable of moving relative to the body. It is
shown that under certain general conditions the system is completely controllable and can be transferred from an arbitrary initial state to any given terminal state. The considered setup simulates the
dynamics of rotary movements of mobile capsule robots. |
| Keywords |
rigid body, dynamics, mobile robot, dry friction, controllability |
| Received |
10 September 2020 | Revised |
26 October 2020 | Accepted |
30 October 2020 |
| Link to Fulltext |
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