Model Reference Control of Human-Operated Mobile Robot for Object Transportation
Naoki Uchiyama, Tatsuhiro Hashimoto · InTech eBooks · 2010
This chapter presents a model reference control approach for a human-operated mobile robot that transports an object. This type of robot has wide applications in industrial and household tasks. The operational easiness of the robot is verified by experiments where operators are required to operate the robot with a transported object to pass through a corridor-like space. Because even young students failed to operate the robot, a function to support the operation is obviously required. The operational easiness is improved by the proposed approach, with which all operators succeeded in transporting the object without collision nor tumble of the object.