On‐line exploration of an unknown surface by a robotic probe

Abstract

Abstract A control strategy is developed for a robotic probe with tactile sensing to explore an unknown surface without losing contact. Digital computer simulations are performed of a three‐link, planar manipulator exploring an ellipsoidal surface in order to test the control strategy. The equations of motion are written and linear, time‐varying, state‐variable feedback is applied to stabilize and decouple the system. A tactile sensor is simulated to supply the normal force between the robot and the surface. From the magnitude and direction of this force, the desired trajectory is determined. An inverse plant and force feedback are implemented to provide the required input torques to the robot's actuators.