Compliance Control System Design for Sub-Crawler Rotary Joints of Ground-Adaptive Crawler Robot / 対地適応クローラロボットにおけるサブクローラ回転ジョイントのコンプライアンス制御系設計
- Resource Type
- Journal Article
- Authors
- Ayaka Watanabe; Masayuki Okugawa; Tomoki Kaneshima; Tomonori Mitsuhashi; 三橋 知典; 奥川 雅之; 渡邊 彩夏; 金島 智樹
- Source
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022, :1-H06
- Subject
- Compliance Control
Crawler Robot
Ground Adaptability
Obstacle Traverse
Pushing-Up
Rotational Stiffness
Sub-Crawler
- Language
- Japanese
- ISSN
- 2424-3124
This paper describes the compliance control system design problem of the sub-crawler rotary joint for the ground-adaptive crawler robot. It is shown that the rotation angle of the sub-crawler greatly contributes to ground adaptability due to the relationship between the moment and propulsion force generated by the interaction between the robot and obstacles in the robot’s pushing-up sequence of the ground-adaptive crawler, and the maximum rotation angle of the sub-crawler at the moment when the robot body is lifted is determined by the compliance of the sub-crawler rotation joint. We propose a control system design method based on the relationship between the rotational stiffness of the sub-crawler rotary joint and the natural angular frequency of the compliance control system. As a result of verifying the proposed control system design method by simulation and experiment, its validity was confirmed.