Hybrid control of door-opening by modular re-configurable Robots

Author

Liu, Guangjun ; Ahmad, Saleh ; Ren, Lu

Author_Institution

Dept. of Aerosp. Eng., Ryerson Univ., Toronto, ON, Canada

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

954

Lastpage

959

Abstract

In this paper, we study the problem of door-opening by using modular reconfigurable robot (MRR). Based on multiple working mode control of the joint modules of the MRR, we first propose an online mode-switch strategy for all joint modules so that each joint module can be easily determined when it should be switched between active working mode and passive working mode during the door-opening process. Based on the proposed mode-switch strategy, a hybrid control scheme is proposed for door-opening. Simulation results are used to demonstrate the validity and efficiency of the proposed mode-switch strategy and the hybrid control scheme.

Keywords

feedforward; robots; torque control; active working mode; door-opening control; feed forward torque control; hybrid control; modular re-configurable robots; multiple working mode control; online mode-switch strategy; passive working mode; Error correction; Force control; Fuzzy control; Fuzzy neural networks; Intelligent robots; Manipulators; Mobile robots; Orbital robotics; Switches; Torque control; Modular reconfigurable robot; door-opening; hybrid control; mode switch;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354458

Filename

5354458