Control passive mobile robots for object transportation braking torque analysis and motion control

Zhi Dong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as Passive Robot Porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ2874-2879
ページ数6
DOI
出版ステータスPublished - 2007
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
継続期間: 2007 4 102007 4 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域Italy
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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