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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
Title Alternative (English)
Cooperative Transfer Control by Using Mobile Robots with Passive Joint Mechanism : Level Control of Carrier Platform on Slope by Using Fuzzy Set Theory
Author
Taniguchi, Takao
Description
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.
Subject
Moving Robot
Intelligent Equipment
Automation
Fuzzy Set Theory
Genetic Algorithm
Cooperative Control
Level Control
Journal Title
日本機械学会論文集. C編
Volume
79
Issue
802
Start Page
2062
End Page
2077
ISSN
03875024
Published Date
2013-06
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/79/802/79_2062/_article/-char/ja/
Rights
一般社団法人日本機械学会
Gyoseki ID
e28228
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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