Published: 31 March 2010

Switching leg method for trajectory planning of mobile piezorobot

R. Bansevicius1
A. Drukteiniene2
G. Kulvietis3
D. Mazeika4
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Abstract

This paper presents switching leg method of trajectory planning of mobile piezorobots. Deduction of motional simultaneous equations for this kind of robots is presented, which describe point-to-point motion by given function. Simulated results indicate the existence of critical values of dimensions that influence the motion of the microrobot. Preliminary experimental results prove the feasibility of proposed mathematical model

About this article

Received
22 September 2009
Accepted
27 November 2009
Published
31 March 2010
Keywords
mobile piezorobot
trajectory planning method