Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, Rui Fukui
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引用次数: 0
Abstract
The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.
期刊介绍：
First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.
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