TY - GEN
T1 - A comparison study of velocity and torque based control of two-wheel mobile robot for human operation
AU - Amagai, Sho
AU - Kamatani, Miyuki
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller, that is, velocity-based controller and torque-based controller are developed. Velocity-based controller is designed based on sliding mode control, which considers pitch angle stability and velocity tracking simultaneously. Torque-based controller is realized by introducing virtual pitch angle disturbance to generate the wheel torque. These two methods are compared via simulation, and results show that the velocity-based controller reduces tracking error against the pitch angle disturbance, whereas the torque-based controller has fast response.
AB - In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller, that is, velocity-based controller and torque-based controller are developed. Velocity-based controller is designed based on sliding mode control, which considers pitch angle stability and velocity tracking simultaneously. Torque-based controller is realized by introducing virtual pitch angle disturbance to generate the wheel torque. These two methods are compared via simulation, and results show that the velocity-based controller reduces tracking error against the pitch angle disturbance, whereas the torque-based controller has fast response.
KW - human operation
KW - joystick
KW - torque-based control
KW - two-wheel mobile robot
KW - velocity-based control
UR - http://www.scopus.com/inward/record.url?scp=85048494730&partnerID=8YFLogxK
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U2 - 10.1109/M2VIP.2017.8211480
DO - 10.1109/M2VIP.2017.8211480
M3 - Conference contribution
AN - SCOPUS:85048494730
T3 - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
SP - 1
EP - 6
BT - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
Y2 - 21 November 2017 through 23 November 2017
ER -