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language
jpn
Title Transcription
ジュドウ カンセツ キコウ オ ユウスル イドウ ロボット ニヨル キョウチョウ ハンソウ セイギョ : シャメンロ ソウコウ ニ オケル キカガク モデル オ リヨウ シタ ハンソウダイ ノ スイヘイカ セイギョ
Title Alternative (English)
Cooperative Transfer Control by Using Mobile Robots with Passive Joint Mechanism : Level Control of Carrier Platform on Slope by Using a Geometric Model
Author
Taniguchi, Takao
Description
This paper proposes a cooperative transfer control by using three wheeled mobile robots (WMRs). One WMR is designated as a leader, and other two WMRs are followers. A carrier platform is supported by links with passive joints on the WMRs. The carrier platform is always kept levelly when WMRs run along a straight path on a slope. A level control of the carrier platform is achieved by the position control of WMRs. The reference positions of the followers to level the carrier platform are calculated with a geometric model when the leader runs along target path. The followers are moved to the reference positions with a PID control. The usefulness of the proposed method is demonstrated through simulation and experimental results.
Subject
Moving Robot
Intelligent Equipment
Automation
Cooperative Control
Level Control
Journal Title
日本機械学会論文集. C編
Volume
78
Issue
792
Start Page
2898
End Page
2913
ISSN
03875024
Published Date
2012-08
DOI
NCID
AN00187463
Publisher
一般社団法人日本機械学会
Publisher Aalternative
The Japan Society of Mechanical Engineers
NII Type
Journal Article
Resource URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/kikaic/78/792/78_2898/_article/-char/ja/
Rights
一般社団法人日本機械学会
Gyoseki ID
e28229
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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