2P1-B04 簡易な形状情報を用いた能動スコープカメラの滑り運動制御

概要

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We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information. The motion control method focused on the shape and length of the straight element and used sideslip of active flexible cable. We applied the method to control the running direction. We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept. The experimental results demonstrated the effectiveness of sliding motion for controlling the running direction. Further, we developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. We implemented and analzed the model with Open Dynamics Engine (ODE). By experimental of simulation and actual equipment, we evaluated the parameter used in shape information handling for optimizing the motion control. Getting the shape information by the feature point tracking, we consider for applying this motion control method to actibe scope camera.
一般社団法人日本機械学会の論文
2009-05-25