抗力規範による移動マニピュレータの転倒安定性判別と安定化運動の実機による検討(機械力学,計測,自動制御)

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rights: 本文データは社団法人日本機械学会の許諾に基づきCiNiiから複製したものであるThis research presents experiments of stability evaluation using criteria based on reaction and stabilization motion for the dynamic motion control of a mobile manipulator. Previous research have not discussed tipover motion dynamically. Then, we proposed the model of the dynamic mobile manipulator which can express a stable state and an unstable transient state during tipping over. In this paper we constructed experiment equipments to classify the validity of the proposed model and confirmed that the real mobile manipulator can return from an unstable state to a stable state by performing a stabilization motion. First, the experiment equipments of the mobile manipulator are constructed. Second, a model of the manipulator including characteristics of the constructed hardware system is formulated. Third, it is clarified that the formulated model can express the motion of the hardware by performing experiments and simulations. Finally, it is shown that the real mobile manipulator can return from an unstable transient state to a stable state by performing a stabilization motion.
一般社団法人日本機械学会の論文
2005-03-25