Two-Dimensional Motions of a Robot Under the Influence of Movable Internal Masses

Abstract

Two-dimensional planar motions of a rigid body carrying movable internal masses are considered. The body can move along a horizontal plane in the presence of dry friction forces obeying Coulomb’s law. The motion of the body is controlled by means of internal masses that can perform prescribed movements relative to the body. Two configurations of internal movable masses are considered. For each of them, relative motions of these masses are proposed that ensure the transfer of the system from any given initial state to any prescribed terminal state in the plane. Thus, the controllability of the system by means of internal masses is proven.