可変構造型移動ロボットの制御に関する研究 : 第5報, 制御アーム-車輪型モデルによる高速度走行のための慣性力補償

概要

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In the first paper, control methods and experimental results on postural stability and driving of the parallel bicycle-type mobile robot with controlling arms were reported. Static and dynamic analyses of the postural stability of the robot were described in the third report. Using the compound gravity center feedback control method utilized in the previous papers, high-speed driving of the robot is difficult without losing the postural stability because of the inertial effect of the robot at quick acceleration. In order to attain high-speed driving of the robot, in this paper, a compensating control method considering the inertial influence was proposed. The inertial torque caused by quick acceleration or deceleration of the robot was balanced with the gravity torque generated by displacing the compound gravity center from the contacting point between the ground and the robot. Also, a cycloidal curve was given as a reference path to drive the robot smoothly. Experiments show that high-speed driving of the robot with maximum acceleration of 6.52 m/s^2 and maximum velocity of 0.415 m/s was achieved without losing the postural stability, and the inertial compensation method proposed here is very useful.
1992-08-25