Explicit lateral force control of an autonomous mobile robot with slip

被引：0
作者：
Jung, S [1 ]
Hsia, TC [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Taejon 305764, South Korea
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
mobile robot; explicit force control; force tracking;
D O I：
10.1109/IROS.2005.1545278
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, lateral force control of a mobile robot in contact with an object or environment is presented. Considering slip condition of wheels, the front wheel steered bicycle model of the mobile robot is derived. The explicit force control algorithm is applied to regulate contact force generated from the object which minimizes a force error between a desired force and an actual force. Performances of force tracking control for different stiffness of environment have been tested. Simulation results show that the proposed control algorithm works quite well to maintain desired contact force on the environment.
引用
收藏
页码：2047 / 2052
页数：6
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