Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots
文献类型：期刊论文
| 作者 | Zhao, Dongbin ; Deng, Xuyue; Yi, Jianqiang
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2009-06-01 |
| 卷号 | 14期号:3页码:382-387 |
| 关键词 | Internal force control mobile robots motion control redundant systems |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | MANIPULATORS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000267438400012 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3569]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。