抄録
This paper shows a basic approach of stabilizing control and tracking method for keeping a sensing level using a pan-tilt unit on an inverted pendulum mobile robot. The mobile robot has just two wheels, which means that this robot is of an inverted pendulum type. Moreover it has several sensors. In this situation, the pitch angle is not always constant, and the data from the sensors are affected by it. Therefore, it is necessary to obtain precisely their posture such as position and angles, where the sensor devices should be controlled for the sensing level. A framework of tracking control by the pan-tilt unit for the inverted pendulum mobile robot is shown, and further some experimental results are demonstrated on the real robot system KoRo.
