모델 예측 제어를 이용한 높은 질량 중심을 가지는 전방향 이동 로봇의 진동 저감 제어

Abstract

Autonomous mobile robots equipped with long-stroke lift modules have been developed to assist human workers to transport high positioned heavy objects in the field of logistics. A large amount of rolling vibration during acceleration or deceleration when driving is inevitable for a robot with a high center of mass and low stiffness mechanism. In this study, the simultaneous control of reference velocity tracking and vibration reduction, only using driving motors, is proposed based on a suspended cart-pole inverted pendulum model that combines velocity and vertical vibration motion. A model predictive controller was adopted to account for constraints that prevented the object from slipping when placed atop the lift by saturating the magnitude of the rolling angular acceleration. The simulation results verified that the residual vibration time and magnitude significantly decreased with the proposed controller compared to the controller accounting for driving velocity alone. Additionally, object slippage prevention was ensured with taking minimal loss of the reference velocity tracking performance.