Experimantal verification of fastest guidance control preventing carrying objects from slipping

Kosuke Okumura, Masanori Mukono, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Force and torque induced by traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced force and torque should be bigger than the static friction force and torque exerting between the carrying objects and the mobile robot, the carrying objects start to slip. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. On the other hand, mobile robots are desired to transfer the carrying objects as fast as it can. On this view point of contradicted requirements, this paper purposes to design a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction to avoid slipping of carrying objects during traveling.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages896-901
Number of pages6
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Mobile robots
Torque
Friction
Controllers

Keywords

  • Carrying object
  • Guidance method
  • Mobile robot
  • Slipping

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Okumura, K., Mukono, M., & Minami, M. (2010). Experimantal verification of fastest guidance control preventing carrying objects from slipping. In Proceedings of the SICE Annual Conference (pp. 896-901). [5602318]

Experimantal verification of fastest guidance control preventing carrying objects from slipping. / Okumura, Kosuke; Mukono, Masanori; Minami, Mamoru.

Proceedings of the SICE Annual Conference. 2010. p. 896-901 5602318.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Okumura, K, Mukono, M & Minami, M 2010, Experimantal verification of fastest guidance control preventing carrying objects from slipping. in Proceedings of the SICE Annual Conference., 5602318, pp. 896-901, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
Okumura K, Mukono M, Minami M. Experimantal verification of fastest guidance control preventing carrying objects from slipping. In Proceedings of the SICE Annual Conference. 2010. p. 896-901. 5602318
Okumura, Kosuke ; Mukono, Masanori ; Minami, Mamoru. / Experimantal verification of fastest guidance control preventing carrying objects from slipping. Proceedings of the SICE Annual Conference. 2010. pp. 896-901
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