DocumentCode
2806275
Title
Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity
Author
Abeykoon, A.M.H.S. ; Ohnishi, Kouhei
Author_Institution
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
fYear
2005
fDate
10-12 Aug. 2005
Firstpage
756
Lastpage
760
Abstract
In this paper, a traction control method for a two wheel mobile robot is presented. Traction force acting on a wheel is dependent upon the dynamic frictional coefficient and the reaction force acting on each wheel, it is proposed to obtain the maximum traction force by selecting the best value for slip percentage as well as selecting a suitable value for the reaction force. Reaction force variation is achieved by changing the centre of gravity (COG) of the mobile robot. Two electric motors are used to drive the two wheel manipulator.
Keywords
force control; manipulators; mobile robots; traction; centre of gravity; electric motors; mobile robot; traction control method; traction force improvement; two wheel mobile manipulator; Control systems; Design engineering; Electric motors; Force control; Friction; Gravity; Manipulators; Mobile robots; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Informatics, 2005. INDIN '05. 2005 3rd IEEE International Conference on
Print_ISBN
0-7803-9094-6
Type
conf
DOI
10.1109/INDIN.2005.1560468
Filename
1560468
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