Journal of System Simulation
Abstract
Abstract: Aiming at the study on the motion performance of a two-dimensional variable stiffness snake-robot, a Simulink/Adams co-simulation model is established, and the effects of the damping coefficient, the stiffness parameters and the angular frequency of the variable stiffness actuator on the motion energy consumption are analyzed. To realize the synchronous control of joint trajectory and stiffness, a motion controller based on two-layer CPG is proposed. The results show that the damping coefficient can effectively reduce the proportion of starting energy consumption of the variable stiffness snake-like robot, and the ratio of starting energy consumption increases with the stiffness parameter increasing at low speed. The energy consumption of the variable stiffness snake-like robot has a peak value at high speed, so the movement under this condition should be avoided.
Recommended Citation
Xue, Naiyang; Ding, Dan; Wang, Hongmin; Fan, Yile; and Liu, Zhongqian
(2022)
"Idea of Infinitesimal Method-introduced Hybrid TT&C Resources Joint Scheduling,"
Journal of System Simulation: Vol. 34:
Iss.
4, Article 18.
DOI: 10.16182/j.issn1004731x.joss.20-0998
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol34/iss4/18
First Page
826
Revised Date
2021-01-19
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.20-0998
Last Page
835
CLC
TP391
Recommended Citation
Naiyang Xue, Dan Ding, Hongmin Wang, Yile Fan, Zhongqian Liu. Idea of Infinitesimal Method-introduced Hybrid TT&C Resources Joint Scheduling[J]. Journal of System Simulation, 2022, 34(4): 826-835.
DOI
10.16182/j.issn1004731x.joss.20-0998
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