内機構と外機構を併用した球体移動機構の水平維持性能について

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: 2021/08/01

タイトル(英語): A Sphere Moving Mechanism Conbining Internal and External Unit and its Horizontality Keeping Ability

著者名: 富田　修平（千葉工業大学 工学研究科），新井　浩志（千葉工業大学 工学研究科）

著者名(英語): Shuhei Tomita (Graduate School of Engineering, Chiba Institute of Technology), Hiroshi Arai (Graduate School of Engineering, Chiba Institute of Technology)

キーワード: 全方向移動，水平維持，PID制御，球体移動　　omnidirectional mobile robot，horizontality keeping，PID controller，sphere moving

要約(英語): Recently, omnidirectional moving AMR (autonomous mobile robot) are researched. For some kind of transportation application, AMR is required to have a horizontality keeping ability by itself. A robot which ride on a sphere and moves omnidirectionally is already proposed and the robot can keep horizontality. But the robot must slightly tilt to an accelerating direction when start to move. We propose a robot with all direction moving ability and keep horizontality during acceleration and deacceleration. The proposed robot is composed of external unit and internal unit. Both unit have all direction moving ability by three omni wheels. External unit rides on a sphere and it maintains horizontality. On the other hand, internal unit moves inside the sphere and controls the moving direction and moving speed of the sphere. We compared the proposed robot, with external unit and internal unit, to a robot with only an external unit. By our experiment, it was evaluated that the proposed robot can keep much more horizontality. It is also indicated that the proposed robot can move with much higher acceleration, and can move on a slope with keeping horizontality.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.141 No.8 （2021） 特集：Smart Cityのためのモビリティ及び通信技術

本誌掲載ページ: 919-926 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/141/8/141_919/_article/-char/ja/