B16 移動ロボットの適応振動抑制手法(OS9 適応学習制御とその応用)

概要

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In the case when wheeled mobile robots run fast on rough surface, due to the body acceleration and oscillation, the sensors mounted on the robot body may be destroyed. In this paper, we propose a combined ideal robot model is designed. In the combined ideal robot model, the location where the acceleration performance becomes best can be moved easily by setting only two design parameters. Next, a robust model tracking controller is developed so that the behavior of an actual mobile robot tracks that of the combined ideal robot model. It is ascertained by numerical simulations that the body acceleration at any specified location can be improved easily and good robustness for uncertainties of robot mass, pitch and roll moment of inertia of robot body, and the position of the center of gravity is confirmed.
一般社団法人日本機械学会の論文
2009-09-01