제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Studies of Force Control for Crack Sealing Robot

  • Jeon, Poong-Woo ('Intelligent Systems and Emotional Engineering Lab.','Department of Mechatronics Engineering Chungnam National University') ;
  • Cho, Hyun-Taek ('Intelligent Systems and Emotional Engineering Lab.','Department of Mechatronics Engineering Chungnam National University') ;
  • Jung, Seul ('Intelligent Systems and Emotional Engineering Lab.','Department of Mechatronics Engineering Chungnam National University')
  • Published : 2003.10.22
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Abstract

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

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