Passive Joint Control of Dynamic Coupling in Mobile Robots

摘要

The results of an investigation on the effects of the dynamic interactions between the vehicle and robot arm motions of a mobile robot system are presented. The objective of this work is to determine whether a mobile robot's dynamic coupling effects can be controlled passively. In this article, various spring- damper combinations (passive control systems) are added to a mobile robot system and evaluated in terms of their effec tiveness in controlling the dynamic coupling. The evaluation procedure utilizes a numerical technique (Runge Kutta-Vemer fifth- and sixth-order method) in conjunction with an algorithm based on the differences between the mobile and nonmobile robot systems' models. The algorithm provides a measure of dynamic coupling and stability. The results are presented in a condensed form via application of Simpson's rule on the cor responding deviations between desired and actual trajectories. In conclusion, the use of passive control systems in conjunc tion with relatively simple controllers (available for existing nonmobile robots and vehicle systems) is expected to provide improved system performance.