Modeling method of the tunnel robot which uses the pitching angular change quantitative cumulative section the model presumption method null of utilizing that

摘要

PURPOSE:To control effectively a direction by making a dynamic model represented by a linear coupling which can be approximated by the residual of a time sequential clause and normal distribution of pitching angle variation of a robot body thereby making an estimation. CONSTITUTION:A head angle detecting section 1a and a pitching angle detecting section 11b are provided to a robot body. 1. Detected data of both of them is transferred to a control section 12 to compute 13 a clause multiplying time sequential clauses (b0thetah(k)+b1thetah(k-1)+...+bnthetah(k-lambda) from the present time (k) of a head angle{thetah(k)} to the past specific time (k-n) by parameter (b0mb1,...bn). After that, time sequential clauses of variation DELTAthetap(k) of the pitching angle are such that a clause (aSIGMADELTAthetap(i)) multiplying the pitching angle variation accumulated clauses (SIGMADELTAthetap(i)) accumulated from the first specific time (k-1) to the past second specific time (i=k-DN DN; pitching angle variation accumulated data number) by a parameter (a) is computed 14. In addition, the residual to be approximated by the normal distribution is computed 15. A dynamic model is made by such a modeling method 16, and a presuming dynamic model 18 is made by means of the minimum square method 17.