Manual Control Mode for Autonomous Mobile Robots Using Velocity-Based Impedance Control

In this industry-oriented research and development project, we studied the introduction implementation of autonomous mobile robots (AMRs) for transporting equipment parts in manufacturing facilities aircraft equipment. relationship between operator AMR, it is crucial to implement an driving mode as well enable control operation by directly interacting with such when moving complex locations. cases, a manual useful often required. This study proposes method AMR motion that enables physically interact robot without use force sensor perform power assist function according longitudinal velocity-based impedance control. The scheme can also be applied other AMRs, particularly those commercial motor-in-wheel drive systems, which design parameters, current, torque motors cannot measured or monitored real time. For scheme, designed dynamic observer based on mathematical model estimate exerted contacts body robot. Additionally, developed complementary algorithm movement inclined surfaces. Comprehensive experimental analysis under different operating cases demonstrates feasibility efficacy proposed power-assist scheme.