Vibration Control of a Wheeled Mobile Robot Based on Disturbance Observer

概要

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The 2-wheel mobile robot features the ability to easily perform spin turns and transverse motion. The problem, however, is that the robot is prone to slow damping vibration in the turning direction. Usually, a guiding algorithm controls the position and heading only. Without considering dynamics, it is difficult to suppress vibration. We propose a method to prevent vibration by taking the dynamics of the robot into consideration. A mathematical model of the robot demonstrates that the turning accelerative and elastic torques act reactively on the motors of the left and right drive wheels. Although these two torques act on each motor with equal magnitude, they have different signs. A difference in the reactive torques occurs, and this is thought to be the main cause of vibration. Our proposed method is to suppress vibration by imposing feedback of the difference of the reactive torques. Experiments have shown significant results in suppressing vibration by means of this technique.
一般社団法人日本機械学会の論文
1993-12-15