外乱オブザーバを用いたフレキシブル移動ロボットの軌道追従制御

概要

論文の詳細を見る
In this paper, a trajectory tracking control method for a flexible wheeled-type mobile robot is described. The flexible mobile robot consists of a wheeled-type mobile mechanism and a flexible structure. The flexible structure consists of four flexible beams and a bench. The mobile distance is measured by an encoder. and a laser sensor is utilized to measure the flexural displacement of the flexible structure. Then. the trajectory tracking control system is constructed with the disturbance observer and the feedforward compensation type two-degree-of-freedom control method. Furthermore, the experimental results confirm that the trajectory tracking control of the bench of the flexible mobile robot can be performed successfully by the present control method.
一般社団法人日本機械学会の論文
1997-09-25