移動ロボットの高速化運動制御のための設計シミュレータ開発(機械力学,計測,自動制御)

概要

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Miniaturization of actuators for reducing robots weight has been mainly discussed as improvement motion velocity of robots. However, it only expects performance of actuators, so it is difficult to say contribution of robotics control technology. So we propose the techniques of intelligent motion control. It has key points that efficiently use robot's actuators and are optimization of actuator heat transfer. But, it is difficult to estimate actuator temperature-rise by high accuracy. Then, this paper shows the design concept that improves robots motion velocity with considering temperature-rise of actuators. And we propose the simulator to evaluate the model of heat generation. In addition, the validity of the simulator is illustrated by applying to the legged robot with wheels. As a result, we showed the proposed model and its simulator were useful, and we confirmed maximum 4.4 times improvement of locomotion velocity in high accuracy for the legged robot with wheels.
社団法人日本機械学会の論文
2004-10-25