2002年
アクティブ双輪キャスタ機構を有するホロノミック全方向移動ロボットの動的制御
日本ロボット学会誌
- ,
- ,
- ,
- 巻
- 20
- 号
- 2
- 開始ページ
- 187
- 終了ページ
- 195
- 記述言語
- 日本語
- 掲載種別
- DOI
- 10.7210/jrsj.20.187
- 出版者・発行元
- The Robotics Society of Japan
Recently, omnidirectional mobile robots with holonomic property have been studied actively. We have already developed a holonomic and omnidirectional mobile robot which consists of two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. In this paper, we further derive a dynamic model for the mobile robot by using the forces acting on the steering axis and construct a resolved acceleration control system based on the model to realize a dynamic control for the mobile robot. An experiment using a prototype robot is performed to prove the validity of the model and the effectiveness of the control system.
- リンク情報
- ID情報
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- DOI : 10.7210/jrsj.20.187
- ISSN : 0289-1824
- ISSN : 1884-7145
- CiNii Articles ID : 10008213104
- CiNii Books ID : AN00141189