A Study of the Driving Control for a Moving Wheeled Robot
Project/Area Number |
19560244
|
Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Dynamics/Control
|
Research Institution | Kyushu Sangyo University |
Principal Investigator |
TSURUTA Kazuhiro Kyushu Sangyo University, 工学部, 教授 (60389236)
|
Project Period (FY) |
2007 – 2009
|
Project Status |
Completed (Fiscal Year 2009)
|
Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2009: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2008: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2007: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
|
Keywords | 運動制御 / MATLAB / SIMULINKを用いた制御コントローラ / 車輪型移動ロボット / 制御対象の同定 / 非線形補償器 / 位置決め特性 / 非電磁アクチュエータ |
Research Abstract |
A moving wheeled robot was modeled, estimated a load of the robot while moving and developed a cooperative control among the wheels in this study. As a result of this study, I accomplished a smooth operation of the robot. Moreover, I established the moving control method which can work safely when the disturbance at the obstacle and so on entered.
|
Report
(4 results)
Research Products
(28 results)