スレーブロボットに受動的移動機構を有するバイラテラルシステムにおける自由動作での操作性向上制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2013/08/01

タイトル(英語): Improvement of Free Motion Operability for Slave Robot with Underactuated Joint in Bilateral System

著者名: 小牟田　清俊（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Kiyotoshi Komuta (Keio University), Toshiyuki Murakami (Keio University)

キーワード: バイラテラルシステム，二輪駆動型移動マニピュレータ，受動的機構，操作性，零空間制御　　Bilateral system，Two-Wheel driven mobile manipulator，underactuated mechanism，operability，null space control

要約(英語): The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. In order to solve this problem, a two-wheel driven mobile manipulator is used as a slave robot in this research. This robot has excellent mobility, and it can turn on the spot and overcome a step. However, the robot is unstable because it lacks casters. If the robot tends to be unstable, it naturally cannot achieve bilateral control. Therefore, in this study, a method that takes into considering the stability of the two-wheel driven mobile manipulator is proposed. The experimental results confirm the efficiency of the proposed method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.133 No.8 （2013）

本誌掲載ページ: 771-779 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/ieejias/133/8/133_771/_article/-char/ja/