日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
移動ロボットによる箱押し作業の制御
大川 善邦横山 乾
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ジャーナル フリー

1993 年 11 巻 1 号 p. 148-155

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We propose a method to make a mobile robot push a box from one place to another. First, we defined the circumferential conditions and derived the equations of motion for a robot and a pushed object. The validity of the proposed dynamic equations have been proved by the experiments. We adopt the simplest goal seeking strategy for robot's motor control. The objective of control is to direct a pushed object toward the goal point. Using a spline curve the robot tries to carry the box toward the goal. Many experiments have been done, which proved the feasibility of our proposals.

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