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Control of differential-drive mobile robots for soft object deformation
Javier Felix-Rendon1, Juan Carlos Bello-Robles2, Rita Q Fuentes-Aguilar1
1Tecnologico de Monterrey, School of Engineering and Sciences, Zapopan, Jalisco, Mexico.
ISA Transactions
|February 19, 2021
Summary
This study implements a control scheme for differential drive mobile robots to deform nonrigid objects. The system uses position and alignment control with two contact points, validated through simulation and real-time tests.
Area of Science:
- Robotics
- Control Systems
- Finite Element Analysis
Background:
- Deforming soft objects is complex due to non-linearity and time-dependency.
- Controlling differential drive mobile robots (DDMRs) for object deformation presents significant challenges.
Purpose of the Study:
- To implement a control scheme for DDMRs to deform nonrigid objects.
- To model object deformation dynamics using the finite element method.
- To achieve desired object shapes using two contact points as control nodes.
Main Methods:
- Designed position control based on DDMR kinematics.
- Applied alignment control for DDMR orientation.
- Utilized a centralized vision algorithm for position acquisition.
- Modeled deformation dynamics with the finite element method.
Main Results:
- Successfully controlled DDMRs to deform a nonrigid object.
- Achieved desired object shapes through a two-contact point strategy.
- Validated the control scheme via numerical simulations and real-time implementation.
Conclusions:
- The proposed control scheme is effective for deforming nonrigid objects using DDMRs.
- Finite element method modeling is crucial for understanding deformation dynamics.
- The integrated approach of kinematics, alignment control, and vision algorithms enables precise manipulation.
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