スレーブロボットに受動的移動機構を有するバイラテラルシステムにおける自由動作での操作性向上制御

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タイトル別名
  • Improvement of Free Motion Operability for Slave Robot with Underactuated Joint in Bilateral System
  • スレーブロボット ニ ジュドウテキ イドウ キコウ オ ユウスル バイラテラル システム ニ オケル ジユウ ドウサ デ ノ ソウサセイ コウジョウ セイギョ

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The bilateral system is expected to be a key technology for the next generation of robots. However, in previous studies, bilateral systems consisted of ground-based devices with limited workspaces. In order to solve this problem, a two-wheel driven mobile manipulator is used as a slave robot in this research. This robot has excellent mobility, and it can turn on the spot and overcome a step. However, the robot is unstable because it lacks casters. If the robot tends to be unstable, it naturally cannot achieve bilateral control. Therefore, in this study, a method that takes into considering the stability of the two-wheel driven mobile manipulator is proposed. The experimental results confirm the efficiency of the proposed method.

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