DocumentCode
338911
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
Volume
1
fYear
1999
fDate
1999
Firstpage
13
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.769908
Filename
769908
Link To Document