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- Shimazaki Tadashi
- Yokogawa Medical System, LTD
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- Ichikawa Hidehiro
- Shibaura Institute of Technology
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- Uchijima Tsuneo
- Shibaura Institute of Technology
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- Saijo Takasige
- Shibaura Institute of Technology
Bibliographic Information
- Other Title
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- 二関節直滑降スキーロボットの姿勢制御に関する研究
- 2 カンセツ チョッカッコウ スキー ロボット ノ シセイ セイギョ ニ カン
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Description
As a basic study to realize a ski-robot in a straight downhill skiing, a posture control scheme of a two-link ski-robot is considerd in detail. First of all, we investigate vestigate about ski-robot moving on the slope approximated to two-dimension and derived the state variable equation of two-link ski-robot as minimum links, using Lagrange's equation. For the two-link ski-robot in the straight downhill, it is favorable to build up servo system which has excellent response characteristics for controlling and stabilizing. In this study, an optimal feedback control is applied to servo system of the two-link ski-robot in the stable skiing. In the stable straight downhill skiing, the center of gravity determined by the posture will be existed to a balancing position in dynamically. A simple method, by the use of a pendulum, is proposed for detecting the balancing position for the center of gravity. Furthermore, an experimental system is constructed by using a DSP (Digital Signal Processor) in the control circuit.<br>We show the two-link ski-robot applying the optimal feedback control has the cexcellent performance confirmed by simulation and experiment. It is clarifided that the method by use of the simple pendulum is valid for detecting the stable position for the center of gravity.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 113 (5), 625-631, 1993
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204655601408
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- NII Article ID
- 130000958289
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 3817824
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed