2A1-C01 サーボブレーキ制御に基づく双輪キャスタ型パッシブ移動ロボットの運動制御(人間機械協調)

概要

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We introduced passive mobile robots consisting of various wheels, omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots employ passive dynamics with respect to the force applied by a human. In this article, we derive and analyze a feasible braking force/moment of each robot that can be applied to the robot on the basis of the characteristics of the servo brakes. We reveal the characteristics, advantages and disadvantages to control, of each robot about the feasible braking force/moment. In addition, we introduce a passive type double wheel caster unit, called PWC, on the basis of the analysis. Finally, we handle a long object by two PWC-P1s actually, and realize the path tracking function as example to confirm its validity.
一般社団法人日本機械学会の論文
2011-05-26