Manual Control Mode for Autonomous Mobile Robots Using Velocity-Based Impedance Control
Manual Control Mode for Autonomous Mobile Robots Using Velocity-Based Impedance Control
カテゴリ: 論文誌(論文単位)
グループ名: 【D】産業応用部門(英文)
発行日: 2022/09/01
タイトル(英語): Manual Control Mode for Autonomous Mobile Robots Using Velocity-Based Impedance Control
著者名: Nguyen Gia Minh Thao (Graduate School of Engineering, Toyota Technological Institute), Susumu Hara (Graduate School of Engineering, Nagoya University), Shoya Hirokawa (Graduate School of Engineering, Nagoya University), Hiroyuki Okuda (Graduate School of
著者名(英語): Nguyen Gia Minh Thao (Graduate School of Engineering, Toyota Technological Institute), Susumu Hara (Graduate School of Engineering, Nagoya University), Shoya Hirokawa (Graduate School of Engineering, Nagoya University), Hiroyuki Okuda (Graduate School of Engineering, Nagoya University), Mitsuru Nagatsuka (Aerospace Systems Company, Kawasaki Heavy Industries, Ltd.), Naoki Ogawa (Aerospace Systems Company, Kawasaki Heavy Industries, Ltd.), Tatsuya Suzuki (Graduate School of Engineering, Nagoya University)
キーワード: autonomous mobile robots,manual control mode,power assist scheme,velocity-based impedance control,force observer
要約(英語): In this industry-oriented research and development project, we studied the introduction and implementation of autonomous mobile robots (AMRs) for transporting equipment and parts in manufacturing facilities of aircraft equipment. In the relationship between the operator and AMR, it is crucial to implement an autonomous driving mode as well as enable the operator to control the operation by directly interacting with the AMR, such as when moving in complex locations. In such cases, a manual control mode is useful and often required. This study proposes a method of AMR motion that enables the operator to physically interact with the robot without the use of a force sensor and perform a power assist function according to longitudinal velocity-based impedance control. The power assist scheme can also be applied to other AMRs, particularly those with commercial motor-in-wheel drive systems, in which the design parameters, current, and torque of the motors cannot be measured or monitored in real time. For the control scheme, we designed a dynamic observer based on a mathematical model of the robot to estimate the force exerted when the operator contacts the body of the robot. Additionally, we developed a complementary algorithm that enables the movement of the robot on inclined surfaces. Comprehensive experimental analysis of the AMR under different operating cases demonstrates the feasibility and efficacy of the proposed power-assist control scheme.
本誌: IEEJ Journal of Industry Applications Vol.11 No.5 (2022)
本誌掲載ページ: 650-663 p
原稿種別: 論文/英語
電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/11/5/11_21011083/_article/-char/ja/
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