多自由度センサアームを搭載した移動マニピュレータ用分散制御コントローラの開発

抄録

The purpose of this research is to realize the distributed controller that simplifies development of multi-degree of freedom mobile manipulator. Recently, the performance of PCs and microcomputers is rapidly improved. There are many controller with low power consumption suitable for a robot. Generally, the PC with high performance is suitable for information processing of an advanced sensor using large amounts of data. On the other hand, a microcontroller is suitable for real time processing such as motor control. Therefore, the controller of robot system with multi-degree of freedom should consist of the PC and multiple microcomputers. In this case, the information transfer becomes a problem. This paper reports the implementation of the robot controller using CAN communication, mounted on the mobile manipulator having six-degree-of-freedom hand arm and four-degree-of-freedom sensor arm, and verification results of the development efficiency and the feasibility.