二関節直滑降スキーロボットの姿勢制御に関する研究

概要

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As a basic study to realize a ski-robot in a straight downhill skiing, a posture control scheme of a two-link ski-robot is considerd in detail. First of all, we investigate vestigate about ski-robot moving on the slope approximated to two-dimension and derived the state variable equation of two-link ski-robot as minimum links, using Lagranges equation. For the two-link ski-robot in the straight downhill, it is favorable to build up servo system which has excellent response characteristics for controlling and stabilizing. In this study, an optimal feedback control is applied to servo system of the two-link ski-robot in the stable skiing. In the stable straight downhill skiing, the center of gravity determined by the posture will be existed to a balancing position in dynamically. A simple method, by the use of a pendulum, is proposed for detecting the balancing position for the center of gravity. Furthermore, an experimental system is constructed by using a DSP (Digital Signal Processor) in the control circuit.We show the two-link ski-robot applying the optimal feedback control has the cexcellent performance confirmed by simulation and experiment. It is clarifided that the method by use of the simple pendulum is valid for detecting the stable position for the center of gravity.
社団法人電気学会の論文