Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to LineRanger
Philippe Hamelin,Pierre-Luc Richard,Marco Lepage,Marin Lagacé,Alex Sartor,Ghislain Lambert,Camille Hébert,Nicolas Pouliot,Philippe Hamelin,Pierre-Luc Richard,Marco Lepage,Marin Lagacé,Alex Sartor,Ghislain Lambert,Camille Hébert,Nicolas Pouliot
In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and limit wheel slippage in the presence of such uncertainty, relying only on wheel angular velocity measur...
