无级变速移动机器人的最优负载敏感控制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.973402

E. F. Fukushima, H. Nakamoto, R. Damoto, S. Hirose

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引用次数: 4

摘要

无级变速器(CVT)可以很好地用于驱动机器人在大范围的外部负载下进入其最有效的工作区域。本文介绍了一种由无级变速器和电动机组成的作动器的最优负载敏感控制算法。所介绍的控制算法同时考虑了电机和无级变速器的效率。在实际的爬楼梯移动机器人“HELIOS-VI”上进行了仿真和实验，验证了该方法的有效性。

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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Optimal load-sensitive control for mobile robots equipped with continuously variable transmissions

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".

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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