2013 Fiscal Year Final Research Report
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
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Multi-year Fund |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Hokkaido University |
|---|
Principal Investigator |
EMARU Takanori 北海道大学, 工学(系)研究科(研究院), 准教授 (30440952)
|
|---|
| 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)
|
|---|
| Project Period (FY) |
2011 – 2013
|
| 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 |
|---|
| 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.
|
Research Products
(31 results)
