Evaluation of dynamical model of mobile robot including slipping of carrying objects

Author

Takeuchi, Motoya ; Ikeda, Takeshi ; Minami, Mamoru

Author_Institution

Dept. of Human & Artificial Intelligence Syst., Fukui Univ., Japan

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3817

Abstract

Force and torque induced by the traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced inertia force and torque should be bigger than the static friction force and torque, the carrying objects begin to slip on the mobile robot. A final purpose of this research is to construct a guidance controller that can travel as fast as possible, on a condition of preventing the slipping of the carrying objects. For this purpose, we modeled a mobile robot carrying plural objects to analyze the influences of the slipping to the traveling motion and to discuss a constraint conditions for the controller of guidance not to make the carrying objects slip.

Keywords

dislocation motion; matrix algebra; mobile robots; robot dynamics; stiction; torque; constraint conditions; dislocation motion; dynamical model evaluation; guidance controller; inertia force; mobile robot; objects slipping; robot dynamics; static friction force; torque; traveling motion; vehicle dynamics; Acceleration; Artificial intelligence; Costs; Friction; Humans; Mobile robots; Motion analysis; Motion control; Production systems; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249749

Filename

1249749