| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721870 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
This paper presents a controller for a free-climbing robot. Given a pre-planned path, a loop is closed around desired robot chassis position to generate cartesian feedback forces. A convex optimization problem is then solved in real-time to find a torque input to the robot that will achieve these feedback forces while not exceeding torque limits or violating friction constraints. The effectiveness of this controller is demonstrated both in simulation and with experimental hardware.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Teresa G. Miller, Timothy W. Bretl, Stephen Rock,