PASSIVE JOINT CONTROL OF DYNAMIC COUPLING IN MOBILE ROBOTS

The results of an investigation on the effects of the dynamic interact ions between the vehicle and robot arm motions of a mobile robot syste m are presented. The objective of this work is to determine whether a mobile robot's dynamic coupling effects can be controlled passively. I n this article, various spring-damper combinations (passive control sy stems) are added to a mobile robot system and evaluated in terms of th eir effectiveness in controlling dynamic coupling. The evaluation proc edure utilizes a numerical technique (Runge Kutta-Verner fifth- and si xth-order method) in conjunction with an algorithm based on the differ ences between the mobile and nonmobile robot systems' models. The algo rithm provides a measure of dynamic coupling and stability. The result s are presented in a condensed form via application of Simpson's rule on the corresponding deviations between desired and actual trajectorie s. In conclusion, the use of passive control systems in conjunction wi th relatively simple controllers (available for existing nonmobile rob ots and vehicle systems) is expected to provide improved system perfor mance.