2021 Fiscal Year Final Research Report
Attitude control of a cylindrical elevating robot with statically indeterminate problems
| Project/Area Number |
18K04017
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20010:Mechanics and mechatronics-related
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| Research Institution | Gifu University |
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Principal Investigator |
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| Project Period (FY) |
2018-04-01 – 2022-03-31
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| Keywords | 昇降ロボット / 姿勢制御 / 不静定問題 |
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| Outline of Final Research Achievements |
Cylindrical elevating robots have a wide range of applications such as inspection robots for street lights and pruning robots in forests. When an elevating robot that uses its own weight climbs a thin cylinder, the posture of the robot changes due to the effect of the thinning, which makes work difficult, so attitude control is required. However, there is a statically indeterminate problem in which the drag force and frictional force at the contact point between the wheel and the cylinder are not uniquely determined. For this reason, excessive drag is irregularly generated during attitude control, which makes it difficult to adjust the attitude.
In this study, we elucidated the cause of the generation of excessive drag that occurs irregularly, and based on the elucidation, we showed attitude control in which excessive drag does not occur in principle.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
自重を利用した円筒昇降ロボットは、車輪と円筒表面で生じる接触力が一意に定まらない不静定問題を抱えている。このため、姿勢制御において円筒表面の凹凸や摩擦係数の変動等の影響も受けて過大な抗力が不規則的に生じ、その結果として姿勢制御ができなくなることが発生していた。
この解決に向け、この抗力の発生する仕組みを解明し、解明に基づいた不静定問題を解決する機体姿勢制御を研究した。不静定問題を抱える機構は、これまで構造体の力や応力の解析、ロボットマニピュレーションでの接触力の解析等で多くの研究があるが、その姿勢制御については世界に研究例がなく、機械制御の地平を広げる研究といえる。
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