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Control of an operator-assisted mobile robotic system

Published online by Cambridge University Press:  24 June 2002

Jae H. Chung
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, NJ 07030 (USA)
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Abstract

In this paper, two different control methods are developed for an operator-assisted mobile robotic system for high load applications. For high load applications of mobile robots, an accurate tire model that considers wheel slip needs to be studied to achieve robustness of the system response. First, a simple operator-manipulator coordination system is developed based on explicit force control. Then, a position controller for the platform is designed to minimize the effect of wheel slip on control performance and integrated with the force controller for the operator-manipulator subsystem based on a motion coordination scheme. Then, a new type of human-robot coordination control method is developed, in which robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve robust response and smooth interaction between the operator, the manipulator and the mobile platform. In simulation, the developed methods are compared for control performance on following the operator's motion intention.

Keywords

Mobile systemOperator-assistHigh loadsTire model
Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 439 - 446
Copyright
© 2002 Cambridge University Press

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