Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Studies of Lateral Impedance Force Control for an Autonomous Mobile Robot with Slip

자율 주행 이동 로봇의 슬립을 고려한 횡방향 임피던스 힘제어에 대한 연구

  • 하천장 (캘리포니아대학교 전기컴퓨터공학부) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2006.02.01
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Abstract

In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.

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References

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