トルクユニットで駆動する回転リンク系の環境との摩擦を考慮した姿勢制御について

概要

論文の詳細を見る
In this research, we study on posture control of a rotating link system with a torque unit under the condition of viscous friction. The torque unit is a module which consists of an electric motor and a reaction wheel. The friction arising from the presence of a viscous environment can not be ignored in the real system. We consider the influence of the viscous friction on the posture control of a one-link system. Then, we propose a control scheme that utilizes the viscous friction to achieve the posture control of the one-link system and the reaction wheel unloading. As a case study, we deal with a posture control problem of a water floating robot under the condition of viscous friction between the floating robot and the surrounding water. Then the effect of the proposed scheme is evaluated through several experiments.
一般社団法人日本機械学会の論文