1015 活線作業用高所作業車の軌道制御

概要

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Recently, to insure the stable supply of the electric power, many robotized manipulator systems for live-line maintenance work are used. However, since of the heavy mass of bucket, it's very easy for bucket to vibrate in case of quick change of the position. Also, the hydraulic actuator used for the aerial vehicle becomes the hindering of system performance and precision due to the nonlinear characteristics of the servo valve with a nonsymmetrical cylinder. In this paper, trajectory control method for bucket in the vertical surface are discussed. Here, we reorganize the equation of motion for the aerial vehicle and linearly approximate the servo valve with a nonsymmetrical cylinder. We approximate the bucket velocity a 2nd order vibration model, and then actualized the trajectory control through the state estimation by the disturbance observer. Simulations show that the bucket has no vibration, moreover can follow the given trajectory by using proposed method.
社団法人日本機械学会の論文
2003-08-05