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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Force Tracking Control of a Slave Mobile Robot for Teleoperation Control System

원격제어 시스템의 종로봇인 이동 로봇의 제작과 힘 추종 제어 구현

  • 배영걸 (충남대학교 메카트로닉스공학과) ;
  • 최호진 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2009.12.18
  • Accepted : 2010.04.22
  • Published : 2010.07.01
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Abstract

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.

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References

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