凹凸路面を走行する移動マニピュレータの研究 : 第1報, 拘束運動モデルの導出とシミュレーション

概要

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The purpose of this research is to construct a controller for traveling operations of mobile manipulators on irregular terrain. Several works on mobile manipulators have been published, in which the traveling plane was assumed to be flat. However, irregularities exist even on artificial floors in factories and buildings. When the end effector of the mobile manipulator must operate during travel on irregular terrain, it is subjected to the effects of disturbance torques derived from influences of traveling motion depending on the terrain. Then, use of compensation methods against the disturbance torques must be considered. Therefore, a mobile manipulator model traveling on irregular terrain is required to examine the control performance of the controller by computer. In this work, the dynamic model and the simulation method are proposed. First, the mobile manipulator model is formulated as a kind of space robot. Second, constraint conditions are considered for calculation of constraint forces to constrain the mobile manipulator on the terrain. Third, the method of calculation of the constraint forces with the constraint conditions under the influence of gravity is proposed. Then, the mobile manipulator model traveling on irregular terrain is formulated. Finally, the dynamics of the mobile manipulator is discussed through simulation.
一般社団法人日本機械学会の論文
1997-11-25