Trajectory Tracking Control on a Spiral Slope Using Inclination Sensors(Mechanical Systems)
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- NAGANO Akinori
- Department of Mechanical System Engineering, Ryukoku University
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- OMURA Takuto
- 龍谷大学大学院理工学研究科
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- IWAMOTO Taro
- Department of Mechanical System Engineering, Ryukoku University
Bibliographic Information
- Other Title
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- らせん路走行の傾斜センサを用いた軌道誘導(機械力学,計測,自動制御)
- らせん路走行の傾斜センサを用いた軌道誘導
- ラセンロ ソウコウ ノ ケイシャ センサ オ モチイタ キドウ ユウドウ
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Abstract
This paper describes first about the generalization of robot posture detection using inclination sensors, and second, the trajectory tracking control on a spiral road using that inclination sensor information. There is a cross talking, and the inclination sensor data does not show the robot posture angles directory. The relation between roll, pitch, yow sensor outputs and the three angles of the posture has been clarified. The result shows that there is a relation between these three sensor data. One of these three sensor data is subordination and two inclination sensors are enough for posture detection. The relation between the distance from the spiral center and robot posture on the spiral road is also clarified. The trajectory tracking control has been achieved successfully by using that trajectory radius and deviation angles detected by a couple of inclination sensors. This sensing method has an advantage because required data is obtained only from the road surface itself therefore there is no need of additional guiding road structure such as fences, center lines, or markings.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 76 (767), 1735-1742, 2010
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206386002944
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- NII Article ID
- 110007682165
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 10784378
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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