対地適応クローラロボットにおけるサブクローラ回転ジョイントのコンプライアンス制御系設計

抄録

This paper describes the compliance control system design problem of the sub-crawler rotary joint for the ground-adaptive crawler robot. It is shown that the rotation angle of the sub-crawler greatly contributes to ground adaptability due to the relationship between the moment and propulsion force generated by the interaction between the robot and obstacles in the robot’s pushing-up sequence of the ground-adaptive crawler, and the maximum rotation angle of the sub-crawler at the moment when the robot body is lifted is determined by the compliance of the sub-crawler rotation joint. We propose a control system design method based on the relationship between the rotational stiffness of the sub-crawler rotary joint and the natural angular frequency of the compliance control system. As a result of verifying the proposed control system design method by simulation and experiment, its validity was confirmed.