Dynamic Modeling, Control and Simulation with Slip for an Omnidirectional Mobile Microrobot

摘要

This paper investigates the nonlinear dynamic model of a millimeters-size omnidirectional mobile microrobot used for micro-assembly task, where the wheel/motion surface slip is considered. Some detailed factors are also taken into account for the micro size of the wheeled microrobot. Several dynamic simulation examples are presented here to demonstrate the deviation caused by the slip. After that, a vision feedback based control method is presented to reduce the deviation with the feedback of vision system.