協調牽引により溶接ケーブルを最適形状に維持する群ロボットシステム

―第7報：位置姿勢の最適化に基づく斜面環境における牽引車両の誘導手法の提案―

抄録

The authors have been studying a welding robot system with the cooperative towing of a group of robots. This paper proposes a method for guiding a towing robot in a gentle slope environment, where the influence of the vehicle’s gravity and the constraint force of the cable fixed to the towing vehicle must be considered.