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http://dx.doi.org/10.5302/J.ICROS.2010.16.7.681

Implementation of Force Tracking Control of a Slave Mobile Robot for Teleoperation Control System  

Bae, Yeong-Geol (충남대학교 메카트로닉스공학과)
Choi, Ho-Jin (충남대학교 메카트로닉스공학과)
Jung, Seul (충남대학교 메카트로닉스공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.7, 2010 , pp. 681-687 More about this Journal
Abstract
In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.
Keywords
force control; hybrid control; weighted adaptive impedance force control; mobile robot;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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