Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots
Zhao, Dongbin; Deng, Xuyue; Yi, Jianqiang
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2009-06-01
Volume14Issue:3Pages:382-387
SubtypeArticle
AbstractThis 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.
KeywordInternal Force Control Mobile Robots Motion Control Redundant Systems
WOS HeadingsScience & Technology ; Technology
WOS KeywordMANIPULATORS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000267438400012
Citation statistics
Cited Times:25[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3569
Collection复杂系统管理与控制国家重点实验室_先进控制与自动化
AffiliationChinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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