Title :
Optimal load-sensitive control for mobile robots equipped with continuously variable transmissions
Author :
Fukushima, Edwardo F. ; Nakamoto, Hideichi ; Damoto, Riichiro ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Yokohama, Japan
Abstract :
A continuously variable transmission (CVT) can be advantageously used to drive a robot in its most efficient operation region for a wide range of external loads. The paper describes an optimal load-sensitive control algorithm for an actuator unit comprising a CVT and an electric motor. The introduced control algorithm takes into account both the electrical motor and the CVT efficiency. The validity of the proposed method is demonstrated by simulations and experiments carried out on an actual stair-climbing mobile robot "HELIOS-VI"
Keywords :
DC motors; machine control; mobile robots; optimal control; HELIOS-VI; actuator unit; continuously variable transmissions; electric motor; mobile robots; optimal load-sensitive control; stair-climbing robot; Actuators; Angular velocity; Electric motors; Equations; Gears; Mechanical power transmission; Mobile robots; Optimal control; Robot control; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973402
