307 惑星探査ローバの砂上走行効率化のための加減速方法の提案(移動ロボット,OS-17 ロボットのダイナミクスと制御,総合テーマ「伝統を,未来へ!」)

概要

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This paper proposes the synthesis procedure for the motion control system to reduce slippage in a planetary rover. The slippage in the rover is mainly due to degree of contact force against the loose soil on the planetary surface. In this paper, particularly, it is confirmed that the slippage generating in early phase of the rover motion is involved with acceleration and deceleration in the driving mechanism through the experiment. Hence, we propose the command shaping method of the target acceleration to prevent the increase of the slippage and the acceleration profile is then derived only by solving a regulator problem with an initial velocity and taking account of the maximum value in acceleration.
一般社団法人日本機械学会の論文
2010-09-14