Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Experimental Studies of Two Force Control Algorithms for a Crack Sealing Robot in Highway Maintenance Technology

Seul Jung, Poong woo Jeon
Abstract:

This paper presents experimental studies of force control algorithms for a crack sealing robot. The crack sealing robot is built as a test-bed to regulate contact force on the ground for a better task. Force tracking performances of two main force control algorithms, explicit force control and impedance force control, are compared experimentally. Experiments are conducted to test the robustness of control algorithms under unknown surface condition of the road. Experimental results show that performances of two force control algorithms are very comparable.

Keywords: crack sealing robot, impedance force control, explicit force control