Development of a Low-Cost Force Sensory System for Force Control via Small Grippers of Cooperative Mobile Robots Used for Fabric Manipulation
Advances in Service and Industrial RoboticsMechanisms and Machine Science(2021)
摘要
The development and installation of a low-cost force sensory system (FSS) on a relatively small mobile robot, as well as the design of a proper force controller for fabric manipulation by two cooperative mobile robots, is presented. The FSS consists of two half bridge strain gauge setups which are integrated into a special fabric gripper of a differential-drive wheeled mobile robot (WMR). The FSS is calibrated and experimentally tested through measurements of varying horizontal 2D forces applied on a fabric during its simultaneous manipulation by the FSS-WMR and another robot. The FSS-WMR is used as a follower in a leader-follower formation for the control of the applied forces on the fabric via two independent PID controllers with force feedback. The performance assessment of the FSS-WMR is achieved via experiments with two cooperative WMRs for the transfer of a fabric in straight and curvilinear trajectories. The results indicate that the FSS-WMR may lead to the effective manipulation of fabrics in planar surfaces using two mobile robots, retaining tensional forces within fabric limits, thus rendering the new low-cost FSS a promising option for such types of fabric manipulation.
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关键词
Force sensors,Force control,Fabric manipulation,Mobile robots,PID controller
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