대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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- Pages.50-52
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- 2004
외란 관측기를 이용한 이동 로봇의 슬립 제어
Anti-Slip Control for Wheeled Robot Based on Disturbance Observer
- 발행 : 2004.05.22
초록
Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient according to slip velocity. In oder to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the anti-slip control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. These procedure is implemented using a Pioneer 2-DXE parameter.
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