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ファイル
transjsm81822_1400510.pdf 2 MB ( 限定公開 )
言語
日本語
タイトルヨミ
ゼンホウコウ イドウ ロボット ニヨル キュウメン フリコ ノ セイシン ハンソウ セイギョ
日本語以外のタイトル
Damping and transfer control of spherical pendulum with omni-directional mobile robot
著者
榎本 崇生
谷口 隆雄
内容記述(抄録等)
This paper presents damping and transfer control with an omni-directional mobile robot. The robot moves in all directions by using three omni-wheels, and a spherical pendulum was used as the tentative transfer object. The spherical pendulum can be considered to be an approximate model of the (1, 1) sloshing mode of a cylindrical liquid container. The damping and transfer control systems consist of feedforward and feedback controls. In the feedforward control, the acceleration of the robot is shaped with a notch-filter to damp the angle of the pendulum. In the feedback control, an optimal servo corrects the positional error of the robot and damps the angle of the pendulum. The weighting matrix of the optimal servo is optimized with a genetic algorithm. The effectiveness of the proposed method was demonstrated through a simulation and experiment. The robot was driven along straight and curved paths on a horizontal plane. The residual vibration of the pendulum was damped by the feedforward control. When a disturbance was added to the robot, the positional error of the robot and the vibration of the pendulum caused by the disturbance could not be damped by the feedforward control alone. When the feedforward and feedback controls were used together, no positional error or vibration occurred.
主題
Omni-directional mobile robot
Damping control
Transfer control
Notch-filter
Optimal servo
Genetic algorithm
掲載誌名
日本機械学会論文集
81
822
開始ページ
14_00510_1
終了ページ
14_00510_14
発行日
2015-02
DOI
出版者
一般社団法人日本機械学会
出版者別表記
The Japan Society of Mechanical Engineers
資料タイプ
学術雑誌論文
関連情報URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/transjsme/81/822/81_14-00510/_article/-char/ja/
権利関係
一般社団法人日本機械学会
業績ID
e28224
部局
(旧組織)大学院総合理工学研究科
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