球輪装備車両の改良―小型化と性能向上―

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2019/12/01

タイトル(英語): Improvement of Ball Wheeled Vehicle―Miniaturization and Performance Gain―

著者名: 中村　澪雄（北見工業大学），佐藤　暢昭（北見工業大学），川村　武（北見工業大学）

著者名(英語): Reo Nakamura (Kitami Institute of Technology), Nobuaki Sato (Kitami Institute of Technology), Takeshi Kawamura (Kitami Institute of Technology)

キーワード: 球輪装備車両，全方位移動，PI制御，軌道追従性　　ball wheeled vehicle，omnidirectional movement，PI control，trajectory tracking capability

要約(英語): Omnidirectional vehicles have higher mobility than four-wheel vehicles. In this paper, we study a Ball Wheeled Vehicle (BWV). This BWV is a sort of omnidirectional vehicle with three rubber balls. Three rubber balls are driven by omni wheels and the BWV can move eight directions and do pivot turn. A prototype BWV was made to single riding. But, it was a little bit large for practical use. Modifying mechanism, the BWV is downsized. Each rubber ball is controlled by a pair of omni wheel and rotary encoder with PI control law. Experimental results and comparison results between the prototype and new BWV will be given.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.12 （2019） 特集：電気・電子・情報関係学会東海支部連合大会

本誌掲載ページ: 1529-1530 p

原稿種別: 研究開発レター／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/139/12/139_1529/_article/-char/ja/