通信ケーブル送出/巻取制御に対するケーブルドラム回転剛性とモデリングの影響

抄録

In the case of laying a wired communication cable by using the mobile robot, the problem is that the cable is broken due to excessive tension caused by the acceleration/deceleration of the robot. In this research, we aim to establish a drum rotation control method according to cable tension variation by a lever-type tension measurement mechanism for an auto reel device mounted on a mobile robot. This paper described the modeling method of the auto reel system, the controller design based on the concept of compliance control, and the implementation results of the designed control system. Automatic cable pay-out/winding control could be realized with the proposed method. However, as a result of confirming the control system characteristics, it came to clear that it tends to become unstable during winding depending on the setting of the control system. It is guessed that the cause is the effect of modeling error due to mechanical problems.