| File | |
| Title |
受動関節機構を有する移動ロボットによる協調搬送制御 : ファジィ理論を利用した斜面路走行における搬送台の水平化制御
|
| Title |
Cooperative Transfer Control by Using Mobile Robots with Passive Joint Mechanism : Level Control of Carrier Platform on Slope by Using Fuzzy Set Theory
|
| 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 : ファジィ リロン オ リヨウ シタ シャメンロ ソウコウ ニ オケル ハンソウダイ ノ スイヘイカ セイギョ
|
| Creator | |
| Source Title |
日本機械学会論文集. C編
|
| Volume | 79 |
| Issue | 802 |
| Start Page | 2062 |
| End Page | 2077 |
| Journal Identifire |
ISSN 03875024
|
| Descriptions |
Other
This paper proposes a cooperative transfer control method by using three wheeled mobile robots (WMRs). One WMR is designated as a leader, and the 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. The level control of the carrier platform is achieved by a position control of WMRs. The positions of the followers are controlled by using a fuzzy set theory to level the carrier platform, while the leader runs along the target path. Membership functions of the fuzzy set theory are designed by using a genetic algorithm. The usefulness of the proposed method is demonstrated through simulation and experimental results.
|
| Subjects |
Moving Robot
Intelligent Equipment
Automation
Fuzzy Set Theory
Genetic Algorithm
Cooperative Control
Level Control
|
| Language |
jpn
|
| Resource Type | journal article |
| Publisher |
一般社団法人日本機械学会
The Japan Society of Mechanical Engineers
|
| Date of Issued | 2013-06 |
| Rights |
一般社団法人日本機械学会
|
| Access Rights | restricted access |
| Relation |
[DOI]
10.1299/kikaic.79.2062
[NCID]
AN00187463
[URI]
https://www.jstage.jst.go.jp/article/kikaic/79/802/79_2062/_article/-char/ja/
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