磁耦合摆驱动可重构滚盘，实现非抓握式运动与平衡控制。
Novel Non-Prehensile Rolling Problem: Modelling and Balance Control of Pendulum-Driven Reconfigurable Disks Motion with Magnetic Coupling in Simulation
- 用磁力摆内部驱动，实现模块化滚盘自主运动。
- 仿真验证系统在摩擦与磁力作用下的复杂运动行为。
- 提出新升降运动模式，适合未来模块化机器人应用。
本文提出一种新型移动滚动机器人，作为非抓握操作的模块化平台，强调了实现该系统平衡控制的挑战。开发的滚动盘模块包含创新的内部驱动磁-摆耦合机构，由于摩擦、滑动及模块间的磁力相互作用，引入了复杂的控制问题。本文采用欧拉-拉格朗日方法推导了系统的非线性动力学模型，并通过仿真研究分析了系统运动特性，为未来复杂非抓握模块间运动控制方法的研究提供了关键洞见。此外，本文还研究了该平台的平衡控制，提出了一种新的提升运动模式。本研究旨在深化对模块化自重构机器人在多种场景下理解与应用的认知。
原文摘要 · Abstract (English)
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed rolling disk modules incorporate an innovative internally actuated magnetic-pendulum coupling mechanism, which introduces a compelling control problem due to the frictional and sliding interactions, as well as the magnetic effects between each module. In this paper, we derive the nonlinear dynamics of the robot using the Euler-Lagrange formulation. Then, through simulation, the motion behavior of the system is studied and analyzed, providing critical insights for future investigations into control methods for complex non-prehensile motion between robotic modules. Also, we study the balancing of this new platform and introduce a new motion pattern of lifting. This research aims to enhance the understanding and implementation of modular self-reconfigurable robots in various scenarios for future applications.
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