マルチユニット形架線移動ロボットの障害物回避と分岐線移動法

概要

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Although there is a large demand for wire mobile robots, it is very difficult for the mobile robot to perform both obstacle avoidance and transferal to a branch wire. This paper describes methods of both obstacle avoidance and transferal to branch wires for the wire mobile robot with a multiunit structure. Basic analysis, synthesis and experimental results clarify both the kinematics and control method for the mobile robot with a multiunit structure which can perform both obstacle avoidance and transferal to a branch wire. Moreover, we demonstrate an ultrasonic sensing system for environment recognition, which is necessary for autonomous robot motion. Although the multiunit structure can realize an obstacle avoidance mechanism, its structure uses many actuators. Therefore, we proposed a compact wire mobile robot with a balancer to transfer the center of gravity.
社団法人日本機械学会の論文
1990-10-25