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http://dx.doi.org/10.5302/J.ICROS.2005.11.4.337

Implementation and Control of Crack Tracking Robot Using Force Control : Part Ⅱ. Force Control  

Jeon Poong Woo (충남대학교 메카트로닉스공학과)
Jung Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.4, 2005 , pp. 337-343 More about this Journal
Abstract
In this paper, experimental studies of force control of the crack tracking robot are presented. The crack tracking robot should maintain constant contact with the road to perform cleaning process of the crack effectively. Regulating desired force on the road requires a sophisticated force control algorithm. Here, two main force control algorithms such as the impedance force control and the explicit force control are used. Performances of two force control algorithms are compared.
Keywords
crack sealing robot; impedance force control; explicit force control;
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