Automatic stabilization of the translational motion of a microrobot

Chigarev, Anatoli V.; Zimmermann, Klaus GND; Minchenya, Vladimir; Becker, Felix GND

The analog motion control of a microrobot with feedback requires a more complicated structure due to the corresponding sensors, microprocessors and actuators. Application of the digital control system allows the use of a control algorithm, such as the autopilot, without feedback, which allows us to simplify the system. We consider the stabilization of the motion of the microrobot on a horizontal surface along the given motion trajectory. Minimization of the deviation angle of the robot’s axis from the tangent to the motion trajectory is a criterion for quality control and can be implemented by the digital device with a hysteresis characteristic.

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Chigarev, Anatoli V. / Zimmermann, Klaus / Minchenya, Vladimir / et al: Automatic stabilization of the translational motion of a microrobot. 2012.

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