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Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots | |
Zhao, Dongbin; Deng, Xuyue; Yi, Jianqiang | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2009-06-01 | |
卷号 | 14期号:3页码:382-387 |
文章类型 | Article |
摘要 | This paper presents an integrated scheme for motion control and internal force control for a redundantly actuated omnidirectional wheeled mobile robot. The interactive forces between a robot body and its wheels can be reduced into two orthogonal parts: motion-induced forces and internal forces. First, it is shown that the internal forces reside in the null space of the coefficient matrix of the interactive forces and do not affect robotic motion. However, these forces caused by motor torques should be minimized as much as possible to increase the energy efficiency and life span of joint components. With different goals, the control for motion and the control for internal forces can be designed separately. Here, both kinematic and dynamic models of the forces are proposed. A proportional differential plus controller regulates the motion and an inverse dynamic controller tracks it. Then, to minimize the internal forces, an integral feedback internal force controller is used. The motion controller guarantees the robotic motion while the internal force controller minimizes the internal force occurring during robot motion. Simulation results verify the effectiveness of the proposed schemes. |
关键词 | Internal Force Control Mobile Robots Motion Control Redundant Systems |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | MANIPULATORS |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000267438400012 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3569 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
作者单位 | Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhao, Dongbin,Deng, Xuyue,Yi, Jianqiang. Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2009,14(3):382-387. |
APA | Zhao, Dongbin,Deng, Xuyue,&Yi, Jianqiang.(2009).Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots.IEEE-ASME TRANSACTIONS ON MECHATRONICS,14(3),382-387. |
MLA | Zhao, Dongbin,et al."Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots".IEEE-ASME TRANSACTIONS ON MECHATRONICS 14.3(2009):382-387. |
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2009 IEEE-ASME - Mot(419KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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