Title :
On a manipulative difficulty of a mobile robot with multiple trailers for pushing and towing
Author :
Li, Wen ; Tsubouchi, Takashi ; Yuta, Shin´ichi
Author_Institution :
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Abstract :
The index of the manipulative difficulty for a mobile robot towing and pushing multiple trailers to follow a straight line is proposed. It will be useful to design such a tractor-trailers system. Some examples of the manipulative difficulty index was calculated by changing the number of trailers when the mobile robot pushes and tows the trailers
Keywords :
feedback; mobile robots; position control; robot kinematics; transfer functions; manipulative difficulty index; pushing; towing; tractor-trailers system; Computational modeling; Computer simulation; Control systems; Feedback; Goniometers; Mobile robots; Performance gain; Tail; Testing;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769908
