Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation and Control of Crack Tracking Robot Using Force Control : Part Ⅱ. Force Control

힘제어 기반의 틈새 추종 로봇의 제작 및 제어에 관한 연구 : Part Ⅱ. 힘제어

  • 전풍우 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2005.04.01
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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.

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References

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