Pushing control of mobile robot by adjusting deceleration time according to estimated friction effect

Koshin Sekiya, Toshiyuki Murakami

研究成果: Conference contribution

抜粋

Recently, attention has been paid to pushing task by robots. A flexible mobile robot with a spring was devised to achieve safe contact during the pushing task. In this paper, two types of pushing task were assumed, one is pushing a fixed object and second is pushing a mobile object. A control law for flexible mobile robots to perform these tasks was proposed. The first is resonance ratio control for force control on a fixed object. Second, deceleration time adjustment method was proposed to carry mobile object without overrunning the target position. Also an observer to estimate friction was proposed, which is an index for adapting deceleration time. The performance of the proposed methods ware verified by simulation.

元の言語English
ホスト出版物のタイトルProceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
出版者Institute of Electrical and Electronics Engineers Inc.
ページ389-394
ページ数6
ISBN(電子版)9781728157542
DOI
出版物ステータスPublished - 2020 2
イベント21st IEEE International Conference on Industrial Technology, ICIT 2020 - Buenos Aires, Argentina
継続期間: 2020 2 262020 2 28

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2020-February

Conference

Conference21st IEEE International Conference on Industrial Technology, ICIT 2020
Argentina
Buenos Aires
期間20/2/2620/2/28

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

    Sekiya, K., & Murakami, T. (2020). Pushing control of mobile robot by adjusting deceleration time according to estimated friction effect. : Proceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020 (pp. 389-394). [9067260] (Proceedings of the IEEE International Conference on Industrial Technology; 巻数 2020-February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT45562.2020.9067260