Noncontact hold and transfer control by a magnetic robot hand attached to a mobile robot with two independent drive wheels

摘要

In this paper, first, the structure of the trial production of the mechanical system of the noncontact hold and transfer control system consisting of a magnetic robot hand and a mobile robot with two independent drive wheels is expressed. Then,the state equation of the magnetic robot hand attached to the mobile robot is derived, and the robust noncontact hold control system with the magnetic levitation control is designed by use of the mixed sensitivity method based on the H{sub}∞ controltheory. On the other hand, the disturbance observer for the mobile robot is designed using the equation of motion of the mobile robot, and the trajectory tracking control system of the mobile robot is constructed by use of the PD control and thedisturbance observer. Furthermore, the experimental results concerning the noncontact hold and transfer control of a steel sphere are demonstrated, and the usefulness of the present noncontact hold and transfer control system with the magnetic robot handattached to the mobile robot is confirmed.