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language
eng
Author
Taniguchi, Takao
Description
This paper proposes a damping control of sloshing in a cylindrical container on a wheeled mobile robot. The container can be independently tilted in the running direction and the orthogonal direction by a dual swing-type active vibration reducer. The mobile robot runs along a curved path on a slope. Sloshing generated by the action of the mobile robot is damped using the vibration reducer. In addition, the vibration reducer can make the container level on the slope. The control system of the vibration reducer is an optimal servo controller with a Kalman filter. The usefulness of proposed damping control system is demonstrated through experiments.
Subject
Sloshing
Active vibration reducer
Wheeled mobile robot
Damping control
Journal Title
Journal of Robotics and Mechatronics
Volume
21
Issue
5
Start Page
642
End Page
646
ISSN
09153942
Published Date
2009
NCID
AA10809998
Publisher
富士技術出版株式会社
Publisher Aalternative
Fuji Technology Press
NII Type
Journal Article
Format
PDF
Resource URL(IsVersionOf)
http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002100050011.xml
Rights
Fuji Technology Press
Text Version
著者版
Gyoseki ID
e28208
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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