The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Experimental Studies of Balancing Control of a Two-wheel Mobile Robot for Human Interaction by Angle Modification

이륜 구동 로봇의 균형 각도 조절을 통한 사람과의 상호 제어의 실험적 연구

  • Lee, Seung Jun (Mechatronics Engineering Department, Chungnam National University) ;
  • Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
  • Received : 2012.06.23
  • Accepted : 2013.03.08
  • Published : 2013.05.31
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Abstract

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

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References

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