Development of a control system for an omni-directional vehicle with step-climbing ability

被引:26
|
作者
Chugo, D [1 ]
Kawabata, K [1 ]
Kaetsu, H [1 ]
Asama, H [1 ]
Mishima, T [1 ]
机构
[1] Saitama Univ, Fac Sci & Engn, Dept Informat & Math Sci, Saitama, Japan
关键词
omni-directional; step-climbing; passive link; torque control; wheel synchronization;
D O I
10.1163/1568553053020296
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper proposes a control method for wheels to pass over rough terrain. In our previous work, we have developed a holonomic mobile mechanism capable of running over steps. The mechanism realizes omni-directional motion on a flat floor and passes over uneven ground in forward and backward directions. The vehicle has seven special wheels with cylindrical free rollers and two passive body axes that can adapt to rough terrain. Seven actuators are located in each wheel; therefore, our vehicle system requires the rotation velocity of each wheel to be coordinated. However, it is difficult to keep such coordination among the wheels - as the vehicle passes over the step, the load applied to the wheel tends to heavy and irregular. Therefore, we propose a new control system for synchronization among the wheels. In this paper, the following two topics are discussed: the load adjustment so as not to exceed the maximum torque of the actuator in some of the wheels and keeping the balance of rotation velocity among the wheels. Our novel control method adjusts the output value by referring to the state of the other wheels. The performance of our system is investigated by means of computer simulations and experiments using our prototype vehicle.
引用
收藏
页码:55 / 71
页数:17
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