A computer–controlled active suspension for a wheeled terrain robot. (4th August 2014)

• Record Type: Journal Article
• Authors: Tani, Kazuo; Usui, Seiichi; Horiuchi, Eiichi; Shirai, Nobumasa; Hirobe, Shinji
• Is Part Of: International journal of computer applications technology. Volume 3:Number 2(1990)
• Page Start: 100
• Page End: 104
• Publication Date: 2014-08-04
• Subjects: active suspensions -- PID control -- terrain robots -- wheel method -- optimal control -- robotics -- body stabilisation -- wheeled robots -- optimal control -- simulation -- vehicle suspension -- robot control; Technology -- Data processing -- Periodicals; 620.00285
• Languages: English
• ISSNs: 0952-8091

Abstract

The aim of our study is to propose a mechanism and control methods for an active suspension and to experimentally demonstrate its applicability to wheeled terrain robots. We built a one–wheel experimental hardware model which includes a mechanism of the suspension, a direct–drive DC servo motor as the actuator, passive elements such as springs and dampers, sensors, and a computer configuration. We implemented PID control and optimal control. We restricted ourselves to the use of only internal sensors for the control: a potentiometer for the body–axle distance and an accelerometer for the body displacement. Simulations showed that an active suspension enables a vehicle to pass over higher steps than a passive or no suspension.