2A1-D19 ブレーキ力発生可能領域の解析に基づくキャスタ型パッシブ移動ロボットの運動制御

概要

論文の詳細を見る
We introduce a passive mobile robot called C-PRP (Caster type Passive Robot Porter). This mobile robot consists of multiple casters with servo brakes and a controller. C-PRP has passive dynamics with respect to the force applied by a human and controls its appropriate motion with the servo brakes. In this paper, we derive and analyze a feasible braking force/moment applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm has a feature that it is independent of the number of casters. The proposed algorithm applies to 4-wheeled C-PRP actually, and experimental results illustrate the validity of the proposed algorithm.
一般社団法人日本機械学会の論文