著者

鈴木 新一 ボールド エンフアムガラン バトサイハン ビルグン ジャルガルサイハン バトザヤ バヤラサイハン ヤンダグフー バドサイハン ハシエルネデ ジャワハラン ガントゥシグ アビルメデ オトゴンバヤル

出版者

一般社団法人 日本機械学会

雑誌

M&M材料力学カンファレンス

巻号頁・発行日

vol.2018, 2018

---

<p>Deterioration of large infrastructures that were constructed in the period of rapid economic growth is becoming a big problem in Japan these days. One method to measure the deterioration is to use optical method that can measure deformation or strain of a structure from a position far from the structure, and the other is to use a robot that moves on the surface of the structure and measures the deterioration of it. When one uses a mobile robot to inspect the deterioration, it is necessary for the robot to detect its own position. The paper describes basic experiments on the detection of position of a mobile robot. Two rotary encoders are used to measure the position of the robot as a function of time. When the robot moves by 8.7 m in <i>x</i>-direction, the error <i>Δ</i>y of the position in <i>y</i>-direction was about ±5 cm. In circular motion, the radius of real trajectory of the robot is approximately equal to the objective radius, whose error was 0.7% on the average.</p>