ラート体操機構の人体モデルを考慮した運動解析と制御 : 自律型ラートロボットによる実現(機械力学,計測,自動制御)

概要

論文の詳細を見る
Rhonrad is a gymnastic equipment that is interesting in terms of dynamics and control. We presented an analytical model and governing basic equations of the Rhonrad mechanism with a human body model. Then, a control method named as Synchronous control was proposed. In this control method, the human body moves synchronously with the rotation angle of the Rhonrad. The motion caused by Synchronous control was numerically analyzed. After that, a standalone miniature Rhonrad robot that consisted of three gyro sensors, an actuator, a micro-computer and batteries was manufactured. The validities of the Synchronous control were shown by experiments with the robot.
社団法人日本機械学会の論文
2006-11-25