高重心移動ロボットの姿勢安定制御(オーガナイズドセッション,振動・音響・制御)

概要

論文の詳細を見る
Many turnover accidents in trail cranes are reported in every year, and it is well known those accidents are easy to lead fatal damages for operator and the construction industry. It is difficult to avoid the accident with operator's normal handling because of the serious operation complexity to stabilization vehicle against interruption on its boom under a critical state. So, we need to propose a method of control vehicle against accidents under case, which a trail crane falls into the peri-turnover situation. In this report, we tried to show a physical model of a high center-of-gravity mobile robot like a trail crane, and proposed a turnover evasion control technique by its outrigger expansion and contraction control. With this outrigger control technique, we have shown that a stabilization domain is expanded and this technique is effective avoid turnover accidents.
社団法人日本機械学会の論文
2004-09-23