Hui Xi, Yanjing Li, Pengyu Sun, Weihua Li, Jianfeng Wang
{"title":"A Time Domain Passivity Controller for Teleoperation of Four Wheeled Differential Mobile Robot on Slippery Surface","authors":"Hui Xi, Yanjing Li, Pengyu Sun, Weihua Li, Jianfeng Wang","doi":"10.56884/bsme8486","DOIUrl":null,"url":null,"abstract":"Four wheeled differential mobile robots have been widely used in many fields. However, on the slippery surfaces (e.g., marble floor), the tire-terrain contact surfaces may induce phenomena of slipping especially when it turns, which brings big challenges for its teleoperation. Aiming at this difficulty, a time-domain passive controller (TDPC) is proposed in this study to compensate for the active energy generated by the environment termination induced by the tire-terrain interaction, and then a stable teleoperator is designed under the coordination of master robot's position and slave robot's velocity. Experiments with a commercial four wheeled mobile robots on the marble floor are conducted to validate the proposed approach.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.56884/bsme8486","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Four wheeled differential mobile robots have been widely used in many fields. However, on the slippery surfaces (e.g., marble floor), the tire-terrain contact surfaces may induce phenomena of slipping especially when it turns, which brings big challenges for its teleoperation. Aiming at this difficulty, a time-domain passive controller (TDPC) is proposed in this study to compensate for the active energy generated by the environment termination induced by the tire-terrain interaction, and then a stable teleoperator is designed under the coordination of master robot's position and slave robot's velocity. Experiments with a commercial four wheeled mobile robots on the marble floor are conducted to validate the proposed approach.