Force sensor based motion control of wheeled mobile robots

Abstract

This paper presents the modeling and control of a rather novel force guided vehicle (FGV), which is a nonholonomic wheeled mobile robot. Force sensor based motion control is proposed to make FGV follow the motion guider's trajectory and ensure the contacting force a given constant. The physical configuration and dynamics of FGV are investigated and the control strategy of linear feedback is proposed to achieve BIBO stability. Furthermore, the simulation is undertaken to evaluate the feasibility of the designed system. The results show the expected performance with satisfied specifications.