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

Koshin Sekiya, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ389-394
ページ数6
ISBN(電子版)9781728157542
DOI
出版ステータスPublished - 2020 2月
イベント21st IEEE International Conference on Industrial Technology, ICIT 2020 - Buenos Aires, Argentina
継続期間: 2020 2月 262020 2月 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
国/地域Argentina
CityBuenos Aires
Period20/2/2620/2/28

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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