車輪形移動ロボットの振動制御

抄録

This paper discusses an effective method for controlling vibration of a wheeled mobile robot. Due to its own elasticity, a wheeled mobile robot suffers from unfavorable vibration while travelling along its route, which causes undesirable positioning inaccuracies. We established a mathematical model of the 2-wheeled mobile robot. Based on this model, we designed a vibration control system using a disturbance observer in which the rotational elasticity of the 2-wheeled mobile robot is taken into account. The experimental results showed that the vibration control system proposed here is useful in practical applications.