2軸回転式アクティブ吸振器付き搬送車による液体タンクの制振制御: 複雑な搬送経路に対応した制握経路設計と液面最大振幅の制約条件導入

摘要

This paper presents a damping transfer control of a liquid container on a wheeled mobile robot with a dual swing- type active vibration reducer. An optimal servo control with a Kalman filter is adopted as a damping control of liquid sloshing using the vibration reducer. Damping path that has multiple turns of the mobile robot are designed by use of an input shaping method. Maximum amplitudes of liquid sloshing are considered as the constraint condition. The transfer velocity of the robot to satisfy the constraint condition is decided by means of a bisection method through transfer control simulations. The usefulness of the proposed method has been confirmed through simulation and experiment.%現在，搬送工程の多くで，工程の変化に柔軟に対応rn可能な自律移動ロボットが利用されている．ここで，rn問題となるのが搬送物の振動や荷崩れである．著者らrnは，既報で車輪型移動ロボットによる液体タンク搬rn送を対象とした制振搬送制御を行った．