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: 2A1-C07
会議情報
2A1-C07 同一次元オブザーバを用いた倒立振子型車両の姿勢制御(車輪型/クローラ型移動ロボット(1))
橋本 雄侍松野 隆幸矢納 陽見浪 護
著者情報
会議録・要旨集 フリー

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抄録
A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. First, algorithm to estimate the lean angle, that is calculated based on center of gravity of the cart, using the full-order state observer is proposed in this research. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.
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© 2014 一般社団法人 日本機械学会
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