能動関節を有する多車輪駆動ロボットの伝播制御の適用

抄録

Multi wheel drive robot with active joint is proposed for Multi-purpose Module System (MMS). Developed multi wheel drive robot is consisting of several module which have two drive wheels on a same rotating shaft and an active and a passive joints. The propagation controlled is selected to drive the robot. Detail of developed robot is described and its control method is evaluated by simulation and experimental. The experimental movement locus of the multi wheel drive robot give close agreement with simulation results at moving velocity 0.3-0.6 m/s. However, some differences between experimental and simulation results is observed because of interference between drive wheels and active joint. From the results, the usefulness of proposed multi wheel drive robot with active joint using propagation control is observed.