最小アクチュエータ／センサ実現に基づく シューティングロボット

抄録

For a shooting robot capable of launching a rotating object with an angular velocity of ω and eventually landing at the pre-determined point, we first discuss the issue on how many actuators and sensors are necessary and sufficient by utilizing. Next, we show that a linear actuator can excite the rotation of object, release it by using an appropriate trigger mechanism, and wind the tether. We also show that just one position sensor is enough for determining the releasing angle θ as well as ω, with the assistance of disturbance observer. Finally, we design and develop the robot system to confirm the idea through experiments.