抄録
In the case when wheeled mobile robots run fast on rough terrain, due to the body acceleration and oscillation, the sensors mounted on robot body may be destroyed. In this paper, we propose a scheme to reduce the body acceleration at any specified location on the mobile robot body. In the proposed scheme, a combined ideal model is designed so that the location where the acceleration performance becomes best can be moved easily by setting only two design parameters. To achieve the control objective, an adaptive controller is developed so that the behavior of an actual mobile robot tracks that of the combined ideal model. It is ascertained by numerical simulations that the body acceleration at any specified location can be improved easily.
