Trajectory control of omni-directional mobile robot with considering shift of center of gravity and nonlinear friction which is affected by direction of movement
| Project/Area Number |
23760380
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering
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| Research Institution | Hokkaido University |
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Principal Investigator |
EMARU Takanori 北海道大学, 工学(系)研究科(研究院), 准教授 (30440952)
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| Co-Investigator(Renkei-kenkyūsha) |
KOBAYASHI Yukinori 北海道大学, 大学院工学研究院, 教授 (10186778)
WANG Shuoyu 高知工科大学, 工学部, 教授 (90250951)
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2013: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | 制御システム / 全方向移動ロボット / 軌道制御 / 非線形補償器 / nonlinear friction / trajectory control / nonlinear compensator |
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| Research Abstract |
Mechanism analysis and performance improvement of an omni-directional wheel mobile robot is purpose of this research. Here, an omni-directional wheel has special mechanism in order to achieve omni-directional movement. The results of this project are as follows: 1)Appropriate model of nonlinear friction of omni-directional wheel that is affected by direction of movement has been proposed. This result makes it possible to control position or velocity of an omni-directional wheel mobile robot accurately. 2)Appropriate model of dynamic shift of center of gravity has been proposed. Such model has strong nonlinearity. In order to compensate such nonlinearity, a novel control strategy has been proposed. The validity of the new control strategy has been investigated by simulations and experiments using an omni-directional wheel mobile robot and manipulator system.
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Report
(4 results)
Research Products
(77 results)
