B06 Denguribotの転がり運動の制御実験(OS6 非線形制御理論とその応用2)

概要

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This paper describes the modeling of the Denguribot and the control experiment of rolling motion for the Denguribot. The Denguribot is the Acrobot composed of 2 links with the curved contour. The outer contour of links is shaped from the arc whose radius is different by the tip and the sidepiece of the link. It is difficult to control the whole motion via common control strategy since the model differs according to the contact between the Denguribot and the ground. Therefore, the control strategy is constructed for two phases, downward phase and upward phase. The rolling motion is realized by setting the output function that achieves the control objective for each phase and by applying Output Zeroing control. Finally, it is confirmed that the rolling motion control is realized through the control experiment, but the control experiment is not so easy. It is necessary to implement theoretical assumptions, such as perfectly inelastic collision and nonslip rolling motion. In this paper, the control experiments have been done with the Dengribot on a horizontal table with rubber shock absorber. The experimental results show validity of the proposed control strategy.
一般社団法人日本機械学会の論文
2009-09-01