Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots

CASIA OpenIR > 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

	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	被引频次：35[WOS] [WOS记录] [WOS相关记录]
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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文件名称/大小	文献类型	版本类型	开放类型	使用许可
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