Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control
Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control
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DOI：
10.1109/robot.2007.363907
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
Z. Wang;K. Fukaya;Y. Hirata;K. Kosuge
中科院分区：
文献类型：
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作者：
Z. Wang;K. Fukaya;Y. Hirata;K. Kosuge
在本文中，我们提出了一个概念，实现基于阻抗的运动控制的被动型机器人运输一个单一的对象与人类操作员的协调。在这项研究中，我们开发了一个原型的被动型机器人被称为被动机器人搬运工或PRP，它包括三个全向轮与MR制动器，和车载计算机系统。我们分析了PRP制动力矩的奇异性，并根据制动力/力矩约束来控制每个车轮的制动力矩，从而在人的推动下在PRP上实现阻抗特性。这允许PRP在不使用伺服电机的情况下跟踪包括垂直于人类推动方向的运动的2D路径，并且允许多个PRP协同工作以处理具有方向控制的单个对象，以避免与障碍物碰撞。实验结果表明，所提出的概念的有效性。
In this paper, we propose a concept on realizing impedance-based motion control of passive type robots for transporting a single object in coordination with a human operator. In this research, we developed a prototype of passive type robot referred to as passive robot porter or PRP, which consists of three omni-directional wheels with MR Brakes, and on-board computer system. We analyze the singularity of PRP braking torques, and control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on PRP with human's pushing. This allows a PRP to track a 2D path which includes motion perpendicular to human's pushing direction without using servo motors, and multi-PRPs to work cooperatively on handling a single object with orientation control for avoiding collision with obstacles. Experimental results are shown to illustrate the validity of the proposed concept.