Development of a vibration prevention controller for high speed mobile robots
| Project/Area Number |
21560245
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
OOYA Masahiro 九州工業大学, 工学研究院, 准教授 (40203947)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2011: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2010: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2009: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 振動制御 / 移動ロボット / モデル追従制御 |
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| Research Abstract |
Based on the two wheels mobile model, we developed a vibration prevention controller for the body without using the tire deflection. To achieve the objective, we proposed a state observer using the measurements of the force added to the body, the bouncing acceleration and the pitching acceleration of the body, the bouncing acceleration of the tire and the stroke of the suspension. In the mobile systems using the developed controller, there exist the following good properties.(1) At the specified location on the body, the vibration prevention becomes best.(2) The best location where the vibration prevention becomes best can be moved easily without redesigning the other controller.
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Report
(4 results)
Research Products
(36 results)
