2A1-Q14 2台の一輪把持型ロボットによる車両の操り : 第3報,キャスタの運動特性を用いた分散協調制御(【交通・物流部門】自動車分野におけるロボティクス)

概要

論文の詳細を見る
A vehicle transportation system by grasping vehicle's drive wheels, which consists of two omni-directional mobile robots, has been proposed. In this article, a novel decentralized cooperation control algorithm for the system maneuvering a vehicle with nonholonomic constraints is proposed, because several conventional decentralized cooperation control theories with force control are developed for maneuvering holonomic objects. First, the system configuration and a mobile robot for a wheel are illustrated. Next, the decentralized cooperation control algorithm based on the impedance control and on the caster-like motion algorithm is described. Finally, the effectiveness of the algorithm is examined through preliminary experiments by using a front-wheel-drive vehicle.
一般社団法人日本機械学会の論文
2011-05-26