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language
eng
Author
Taniguchi, Takao
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.
Subject
Transfer control
Sloshing
Damping control
Wheeled mobile robot
Path design
Journal Title
Journal of Robotics and Mechatronics
Volume
17
Issue
5
Start Page
546
End Page
552
ISSN
09153942
Published Date
2005
DOI
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=ROBOT001700050007.xml
Rights
Fuji Technology Press
Text Version
著者版
Gyoseki ID
e28207
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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