走行車両間のテザー懸垂移動装置を用いた屋外広域作業システムの開発

―第2報：移動制御システムの構築と検証実験―

抄録

We have been developing a far-reach tethered working tool between mobile platforms. The main components of the system are the following: a tethered tool, two mobile platforms, two wire winding mechanism (winch). This paper deals with the winding control system for winches and the cooperative control system for mobile platforms. The cascade PID control strategy was introduced into winding control. The cooperative control system was developed based on leader-follower type control and virtual impedance control. The prototype system was verified by the experiments. A tethered tool reciprocated along a horizontal direction between cars while a slave car ran in parallel to a master car using virtual impedance control and a laser range finder.