Noncontact hold and transfer control by a magnetic robot hand attached to a mobile robot with two independent drive wheels

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328) Pub Date : 1999-08-22 DOI:10.1109/CCA.1999.800955

H. Kojima, Y. Yuasa, T. Kobayashi

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Abstract

First, the structure of the trial production of the mechanical system of a noncontact hold and transfer control system consisting of a magnetic robot hand and a mobile robot with two independent drive wheels is expressed. Then, the state equation of the magnetic robot hand attached to the mobile robot is derived, and the robust noncontact hold control system with magnetic levitation control is designed by use of the mixed sensitivity method based on H/sub /spl infin// control theory. On the other hand, the disturbance observer for the mobile robot is designed using the equation of motion of the mobile robot, and the trajectory tracking control system of the mobile robot is constructed by use of PD control and the disturbance observer. Furthermore, the experimental results concerning the noncontact hold and transfer control of a steel sphere are demonstrated, and the usefulness of the present noncontact hold and transfer control system with the magnetic robot hand attached to the mobile robot is confirmed.

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非接触式保持和转移控制由磁性机械手连接到一个移动机器人与两个独立的驱动轮

首先，阐述了由磁性机械手和具有两个独立驱动轮的移动机器人组成的非接触握移控制系统机械系统的试制结构。然后，推导了附着在移动机器人上的磁性机械手的状态方程，采用基于H/sub /spl //控制理论的混合灵敏度方法，设计了具有磁悬浮控制的鲁棒非接触握持控制系统。另一方面，根据移动机器人的运动方程设计了移动机器人的扰动观测器，并利用PD控制和扰动观测器构建了移动机器人的轨迹跟踪控制系统。在此基础上，给出了钢球非接触握持与传递控制的实验结果，验证了磁性机械手附着于移动机器人的非接触握持与传递控制系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)

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