Abstract
Manipulation of the explosives ordnance disposal robot into the situational room in buildings can be regarded as a complex force control problem for a motion constrained robot. There are some defects on traditional force control methods in principle, such as the fact that the force controller and the position controller of hybrid force/position control cannot perform at the same time, and that impedance control causes interference between its force control and position control, and such defects should affect the door-opening operation eventually. So based on the holonomic system, a novel control law for tracking the reference position and the reference constrained force at the same time is proposed, and then the motion constrained problem of the door-opening operation can be transformed into the control problem for the constrained force of a holonomic system through the proposed control law. Finally, by the experimental platform, Ling Xi explosives ordnance disposal robot, a comparison is made between the proposed method and the impedance control, which proves the advantage of the proposed one.
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