受動的コンプライアンス機構を有する3台の移動ロボットを用いた直方体形物体の押し搬送 : クロソイド曲線を用いた軌道計画と押し搬送の実験(機械力学,計測,自動制御)

概要

論文の詳細を見る
In this paper, first, the trajectory planning method of a rectangular prism object with three mobile robots with passive compliance mechanisms is presented. To accomplish the smooth motion control of the rectangular prism object, in the trajectory planning of the rectangular prism object, clothoid is used effectively, and the trajectory of the multiple mobile robots is obtained from the trajectory of the rectangular prism object. Then, the tracking control system of the three mobile robots is constructed. Second, using the three autonomous mobile robots (MK-01X developed by the Fuji Heavy Industries), the experiments of the pushing transfer have been carried out, and it is confirmed experimentally that the rectangular prism object can be transferred.
一般社団法人日本機械学会の論文
2004-04-25