屋外におけるクローラ型ロボットによる旋回動作の解析

抄録

Our crawler-type robots use direct drive motors to rotate the left and right crawlers. The response of the motors to the input differs between the crawler robot's turning motion and its straight-line motion. In order to perform accurate crawler-type robot turning movements, we analyzed the response of the crawler robot during turning. As the result, it was found that the turning motion requires compensation for turning in addition to the control for straight-line motion. It is also necessary to monitor and control the slowdown motors to prevent an increase in load during rotation. The design of current limitation is also important because of the large current flow during turning.