Experimental Studies of Impedance Force Tracking Control of a Crack Sealing Robot for Highway Maintenance
Abstract
This paper presents experimental studies of impedance force tracking control algorithm for a crack sealing robot. The robot is built to find and seal cracks on the pavement. Regulating contact force improves the performance of cleaning process before sealing. The proposed impedance force control method is robust to perform tasks under unknown surface condition such as stiffness and position of the environment. Experimental studies show that the robot regulates a desired force quite well on the curved unknown environment.
