Dynamics of mobile manipulator considering slipping movement of carrying objects

Takeshi Ikeda, Mamoru Minami

Research output: Contribution to journalArticle

Abstract

Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force and torque are bigger than the static friction force and torque, the carrying objects stary slipping motion on the mobile manipulator. As the result of it, the movement of carrying object may cause a collapse of all carrying objects, since a start of slipping makes the traveling acceleration of the mobile manipulator increase, furthermore it interferes with accurate traveling operations. A final purpose of this research is to propose a navigation controller of mobile manipulator that prevents the carrying objects from slipping. As a first step of this destination, we propose a model of n-link Power Wheeled Steering (PWS) mobile manipulator including the slipping motion of plural carrying objects. Using the proposed model, dynamical influences of the slipping are analyzed and the model is justified through several simulations.

Original languageEnglish
Pages (from-to)3470-3477
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume71
Issue number12
Publication statusPublished - Dec 2005
Externally publishedYes

Fingerprint

Manipulators
Torque
Navigation
Friction
Controllers

Keywords

  • Carrying Object
  • Dynamics
  • Mobile Manipulator
  • Modeling
  • Nonholonomic

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{891fa1cabbb044d0a5f9a2a5b1840aa3,
title = "Dynamics of mobile manipulator considering slipping movement of carrying objects",
abstract = "Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force and torque are bigger than the static friction force and torque, the carrying objects stary slipping motion on the mobile manipulator. As the result of it, the movement of carrying object may cause a collapse of all carrying objects, since a start of slipping makes the traveling acceleration of the mobile manipulator increase, furthermore it interferes with accurate traveling operations. A final purpose of this research is to propose a navigation controller of mobile manipulator that prevents the carrying objects from slipping. As a first step of this destination, we propose a model of n-link Power Wheeled Steering (PWS) mobile manipulator including the slipping motion of plural carrying objects. Using the proposed model, dynamical influences of the slipping are analyzed and the model is justified through several simulations.",
keywords = "Carrying Object, Dynamics, Mobile Manipulator, Modeling, Nonholonomic",
author = "Takeshi Ikeda and Mamoru Minami",
year = "2005",
month = "12",
language = "English",
volume = "71",
pages = "3470--3477",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "12",

}

TY - JOUR

T1 - Dynamics of mobile manipulator considering slipping movement of carrying objects

AU - Ikeda, Takeshi

AU - Minami, Mamoru

PY - 2005/12

Y1 - 2005/12

N2 - Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force and torque are bigger than the static friction force and torque, the carrying objects stary slipping motion on the mobile manipulator. As the result of it, the movement of carrying object may cause a collapse of all carrying objects, since a start of slipping makes the traveling acceleration of the mobile manipulator increase, furthermore it interferes with accurate traveling operations. A final purpose of this research is to propose a navigation controller of mobile manipulator that prevents the carrying objects from slipping. As a first step of this destination, we propose a model of n-link Power Wheeled Steering (PWS) mobile manipulator including the slipping motion of plural carrying objects. Using the proposed model, dynamical influences of the slipping are analyzed and the model is justified through several simulations.

AB - Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force and torque are bigger than the static friction force and torque, the carrying objects stary slipping motion on the mobile manipulator. As the result of it, the movement of carrying object may cause a collapse of all carrying objects, since a start of slipping makes the traveling acceleration of the mobile manipulator increase, furthermore it interferes with accurate traveling operations. A final purpose of this research is to propose a navigation controller of mobile manipulator that prevents the carrying objects from slipping. As a first step of this destination, we propose a model of n-link Power Wheeled Steering (PWS) mobile manipulator including the slipping motion of plural carrying objects. Using the proposed model, dynamical influences of the slipping are analyzed and the model is justified through several simulations.

KW - Carrying Object

KW - Dynamics

KW - Mobile Manipulator

KW - Modeling

KW - Nonholonomic

UR - http://www.scopus.com/inward/record.url?scp=33644849263&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33644849263&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:33644849263

VL - 71

SP - 3470

EP - 3477

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 12

ER -