ケーブルオートリールの張力ダイナミクスに関するモデル化

抄録

In recent years, teleoperated robots are expected to be used in the inspection of infrastructure and plant facilities and at disaster sites. With the increasing sophistication of inspections and surveys in recent years, high-capacity and stable communication quality is required for remote control of robots. In this study, we aim to solve this problem by constructing a wired communication network using multiple robots in the field. For cable laying using robots, we are developing an auto-reel system that uses drum rotation control by cable tension. In this paper, we describe the modeling of tension dynamics in cable auto-reel.