1P1-D10 複数のパッシブ型物体搬送ロボットによる制御入力制限を考慮した経路追従制御

概要

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In our previous works, we proposed a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. In this algorithm, especially, a virtual force is applied to the object supported by multiple passive robots for realizing a path following function or collision avoidance function. However, we did not consider the feasible region of brake control, which is determined based on the servo brake condition of the passive mobile robot, for generating the virtual force. Therefore, when the virtual force is out of the feasible region of the brake control, the performances of the path following function and collision avoidance function are decreased. In this paper, we propose a distributed motion control algorithm of the multiple passive mobile robots by considering the feasible region of brake control of each robot, and the proposed algorithm applied to two PRPs experimentally for illustrating its validity.
一般社団法人日本機械学会の論文
2009-05-25