Implementation of force tracking control of a slave mobile robot for teleoperation control system

被引：0

作者：

Bae Y.G.

Choi H.-J.

Jung S.

机构：

来源：

Journal of Institute of Control, Robotics and Systems | 2010年 / 16卷 / 07期

关键词：

Force control; Hybrid control; Mobile robot; Weighted adaptive impedance force control;

D O I：

10.5302/J.ICROS.2010.16.7.681

中图分类号：

学科分类号：

摘要：

In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.

引用

页码：681 / 687

页数：6

共 16 条

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