Modeling of a mobile robot including slipping of carrying objects

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 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 which is 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.