Title :
Force sensor based motion control of wheeled mobile robots
Author :
Su, He ; Liu, Ming
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
fDate :
27 June-3 July 2005
Abstract :
This paper presents the modeling and control of a rather novel force guided vehicle (FGV), which is a nonholonomic wheeled mobile robot. Force sensor based motion control is proposed to make FGV follow the motion guider´s trajectory and ensure the contacting force a given constant. The physical configuration and dynamics of FGV are investigated and the control strategy of linear feedback is proposed to achieve BIBO stability. Furthermore, the simulation is undertaken to evaluate the feasibility of the designed system. The results show the expected performance with satisfied specifications.
Keywords :
feedback; force sensors; mobile robots; motion control; position control; stability; BIBO stability; force guided vehicle; force sensor; linear feedback; motion control; motion guider trajectory; nonholonomic wheeled mobile robot; Control systems; Force control; Force sensors; Laser radar; Mobile robots; Motion control; Sensor systems; Stability; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Information Acquisition, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9303-1
DOI :
10.1109/ICIA.2005.1635146
