ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-H06
会議情報
1A2-H06 3輪型ビークルのモデル化と安定移動制御(車輪型/クローラ型移動ロボット(2))
古市 浩貴黄 剣松野 隆幸福田 敏男
著者情報
会議録・要旨集 フリー

詳細
抄録
This paper proposes a dynamic model of general behavior using a new concept Narrow Tilting Vehicle (NTV). Our NTV has one wheel on the front and two wheels on the rear. Also, it is very narrow and all three wheels will tilt to make stable during turn. We derive three types of dynamic model. One is the model when all three wheels are on the ground. Other two are the model when each right and left rear wheel floats. These dynamic models are useful to control the real vehicle. Then, we made simulations to indicate the availability of our dynamic model. We also made some simulations to validate our three dynamic models.
著者関連情報
© 2012 一般社団法人 日本機械学会
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