Dynamics of mobile manipulator considering slipping movement of carrying objects

Takeshi Ikeda, Mamoru Minami

Research output: Contribution to journalArticlepeer-review


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
Issue number12
Publication statusPublished - Dec 2005
Externally publishedYes


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

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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