File | |
language |
eng
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Author |
Taniguchi, Takao
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Description | A spherical pendulum-type model is constructed to represent liquid sloshing in a cylindrical container, caused by the motions of a wheeled mobile robot (WMR). The model is used to design a path and an acceleration pattern for the WMR in consideration of the damping of sloshing in the container. The curvature radius of the path and the acceleration pattern of the WMR are determined using an input shaping method. A PD controller is used so that the WMR can trace the designed path. Maximum displacement magnitude of the sloshing is considered as a constraint condition in this control transfer system. The effectiveness of the present method is clarified through simulations and experiments.
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Subject | Transfer control
Sloshing
Damping control
Wheeled mobile robot
Path design
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Journal Title |
Journal of Robotics and Mechatronics
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Volume | 17
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Issue | 5
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Start Page | 546
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End Page | 552
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ISSN | 09153942
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Published Date | 2005
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DOI | |
NCID | AA10809998
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Publisher | 富士技術出版株式会社
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Publisher Aalternative | Fuji Technology Press
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NII Type |
Journal Article
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Format |
PDF
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Resource URL(IsVersionOf) | http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT001700050007.xml
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Rights | Fuji Technology Press
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Text Version |
著者版
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Gyoseki ID | e28207
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OAI-PMH Set |
Interdisciplinary Graduate School of Science and Engineering
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