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 : 斜面路走行における幾何学モデルを利用した搬送台の水平化制御

This paper proposes a cooperative transfer control by using three wheeled mobile robots (WMRs). One WMR is designated as a leader, and 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. A level control of the carrier platform is achieved by the position control of WMRs. The reference positions of the followers to level the carrier platform are calculated with a geometric model when the leader runs along target path. The followers are moved to the reference positions with a PID control. The usefulness of the proposed method is demonstrated through simulation and experimental results.