著者

上野 祐樹 今冨 亜樹絵 増田 光敏 松尾 芳樹

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.40, no.3, pp.231-239, 2022 (Released:2022-04-22)

参考文献数

18

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A mobile robot used in homes and offices are required to be able to move around without getting stuck in an environment with various obstacles such as people and furniture, in addition, not to hurt or damage them if it strikes against them. A robot with a spherical body is an effective means to fulfill these requirements. In this study, such a spherical mobile robot that drives a spherical shell with an internal drive unit and can move in all directions is considered. The authors' have proposed a spherical mobile robot driven by an internal unit with three omni-wheels in the past studies. First, this paper describes the structure of a newly developed experimental spherical mobile robot of the proposed scheme employing three omni-wheels in a specific layout. Second, a kinematic model is derived so that the internal unit can transmit the driving force without slipping with respect to the spherical shell. Third, in order to realize vibration suppression control and velocity control of the sphere, a dynamic model and its analysis, a vibration suppression control method, and a feedback control method of the moving direction and the velocity of the sphere shell are described. The proposed model and the methods were examined using the newly developed spherical mobile robot, and these usefulness and effectiveness are confirmed from experimental results.

著者

松尾 芳樹

出版者

京都市立芸術大学

巻号頁・発行日

2015

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元資料の権利情報 : CC BY-NC-ND

著者

松尾 芳樹

出版者

公益社団法人 日本工学教育協会

雑誌

工学教育 (ISSN:13412167)

巻号頁・発行日

vol.54, no.2, pp.2_21-2_29, 2006 (Released:2006-06-16)

参考文献数

6

被引用文献数

4 5 2

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The Department of Control and Sysytems Engineering, Tokyo Institute of Technology, has been focusing on creativity in its undergraduate education for more than 40 years. The current curriculum is featuring 2 RoboCon-style subjects, in which students are assigned to create original robots to attend a competition. One subject is offered for 2nd year students and its main objective is to activate their creativity. The other is for 3rd year sudents aiming at development of team creativity. In this paper, after introducing the concepts of the curriculum, the latter subject called “Creative Design of Control Systems” is described in detail. Its objectives, outlines, and various efforts to teach and to operate the class are explained taking the 2005 class as an example.

著者

松尾 芳樹 中野 道雄

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.25, no.8, pp.896-903, 1989-08-30 (Released:2009-03-27)

参考文献数

4

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A feedback control scheme for PWM systems is considered, on the basis of a conventional triangular carrier wave scheme.When disturbances such as power supply fluctuation or switching delay exist, the conventional PWM scheme produces output error because of its open loop structure. To cope with this, the present scheme adopts a feedback switching control structure that measures mean output error during each period of the triangular carrier wave and determines the subsequent switching timing to eliminate the error. The scheme is realized by adding a simple circuit to the conventional one. The resulting PWM system has an integral compensation property, thereby the mean output error should vanish in the steady-state. Moreover, when its input and disturbances are of step-type, the response settles down perfectly in 2 periods. Furthermore, a feed forward path can be easily implimented, which makes the input response similar to that of the conventional open loop scheme.The authors have applied the scheme to a PWM controlled voltage source in a DC electric motor velocity control system. Results of experiments on the system verify the abovementioned merits of the present scheme.