The mobile robot which can shift from a horizontal bar to a bar by using excitation of vibration. 2nd report. Realization of shifting from a horizontal bar to a bar controlled by the new torque-control method.

摘要

This paper deals with the double-pendulum-type mobile robot which can shift from a horizontal bar to a bar by using excitation of vibration. This robot is composed of the pivoted double-link arms and one motor which drives the joint. In the previous paper, the authors reported that the vibratory excitation was induced when the hung arm from the upper pivoted end was swung following the prescribed control pass, and also that the gripper could reach the adjacent bar. Now in this paper, the new controlling method, 'torque-control', is proposed, and by computer simulation, it is appreciated that this new method is more efficient. As to the hardware, the gripper. equipped on the free end of the arms are refined to grasp the bar certainly. As a result of the experiments, the new control method could excite the robot quickly, and the lobot could shift from bar to bar.