多関節機構を有するロボットの多形態自在移動機構(Vroid)の一考え方 : 第2報,移動時のモジュールに拘束条件を与えた場合の姿勢制御方法

概要

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Based on a previous paper, an attitude control method of the Vroid is dealt with here, under some conditions, so that some of the modules should satisfy the constraints for the robotic shape and attitude, since it is sometimes required that mobile robots must carry something and/or liquid containers in a restricted moving mode. The assumptions are that (i) the Vroid has six degrees-of-freedom, including the freedoms of the rotational joint of the first link and the moving wheels, which were not treated in the previous paper ; (ii) the central link must be kept in the horizontal position as a constraint, which yields five degrees-of-freedom in Vroid ; (iii) Vroid moves along a slope. The problem is formulated as a linear programming problem minimizing the total applied moments at joints, subjected to constraints. Then the proposed control method gives a solutions for the control sequence of the Vroid for various terrains.
一般社団法人日本機械学会の論文
1986-09-25