2A1-Q15 複数移動ロボットを用いた車両搬送システムiCART II : 第3報,搬送車両の重量推定(【交通・物流部門】自動車分野におけるロボティクス)

概要

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We proposed a car transportation system using multiple mobile robots, iCART II (intelligent Cooperative Autonomous Robot Transporters type II), based on "a-robot-for-a-wheel" concept. In this system, multiple robots, MRWheel (a Mobile Robot for a Wheel), lift up all wheels of a car and transport it in coordination by using interaction forces. However inertial and friction forces applied to modules for lifting up wheels prevent MRWheels from transporting a car. Therefore, this paper proposes an estimation algorithm of the vehicle weight based on adaptive control. If MRWheels can estimate a transported vehicle weight, MRWheels will estimate and compensate the inertial and friction forces. At first we model lifting up a wheel by a MRWheel and derive adaptive control low. And the proposed algorithm is applied to a MRWheel and the experimental results confirm its validity.
2011-05-26