3つの球を使った全方位移動機構の運動と制御

概要

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Applications of wheeled mobile robots have been widely expanded in the field of flexible automation. However for the purpose of smooth motion and simple planning, development of holonomic omnidirectional vehicles has been expected. To meet the requirements of holonomic omnidirectional motion, we propose a new vehicle mechanism using three balls instead of wheels, in which each driving unit consists of a servomotor and a ball. This study focuses on the analysis of dynamics and control of the vehicle. After presenting the mechanism of the vehicle, a nonlinear model which expresses the dynamics of the vehicle is derived. The analysis of the dynamics based on a linearized model clarifies the characteristics of the vehicle such as controllability and observability of the model. Thus, a simple independent ball rotational speed controller for each ball is used to realize the omnidirectional motion control of the vehicle. Validity of the model and effectiveness of the controller are evaluated based on simulations and experiments.
一般社団法人日本機械学会の論文
1994-08-25