2P2-D22 積載物の滑りを考慮した加速度制限つき最速誘導制御(車輪移動ロボット)

概要

論文の詳細を見る
Some of conveyance tasks of the mobile robot are used to improve the efficiency of the production system. If the induced inertia force and torque should be bigger than the maximum static friction force and torque, the carrying objects begin a slipping motion on the mobile robot and it is a serious problem for the production system. When carrying objects slip off the mobile robots, they may be broken and the accident interferes with accurate traveling motion of the mobile robot. Then, in this study we set the purpose of this research to guide the mobile robot as fast as possible while keeping the objects not slip. Effectiveness of the guidance control with accelerative restriction of the mobile robot is verified with travelling experiment with mobile robot.
一般社団法人日本機械学会の論文
2008-06-06