Fastest guidance control avoiding slipping of carrying objects and experimental evaluation

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 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 publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages4641-4646
Number of pages6
Publication statusPublished - 2009
Externally publishedYes
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: Aug 18 2009Aug 21 2009

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period8/18/098/21/09

Fingerprint

Mobile robots
Torque
Friction
Controllers

Keywords

  • Carrying object
  • Guidance method
  • Mobile robot
  • Slipping

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Mukono, M., & Minami, M. (2009). Fastest guidance control avoiding slipping of carrying objects and experimental evaluation. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 4641-4646). [5332949]

Fastest guidance control avoiding slipping of carrying objects and experimental evaluation. / Mukono, Masanori; Minami, Mamoru.

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 4641-4646 5332949.

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

Mukono, M & Minami, M 2009, Fastest guidance control avoiding slipping of carrying objects and experimental evaluation. in ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings., 5332949, pp. 4641-4646, ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, Fukuoka, Japan, 8/18/09.
Mukono M, Minami M. Fastest guidance control avoiding slipping of carrying objects and experimental evaluation. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 4641-4646. 5332949
Mukono, Masanori ; Minami, Mamoru. / Fastest guidance control avoiding slipping of carrying objects and experimental evaluation. ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. pp. 4641-4646
@inproceedings{172fda4bd35a4b14a42002c5f7ad36ee,
title = "Fastest guidance control avoiding slipping of carrying objects and experimental evaluation",
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 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.",
keywords = "Carrying object, Guidance method, Mobile robot, Slipping",
author = "Masanori Mukono and Mamoru Minami",
year = "2009",
language = "English",
isbn = "9784907764333",
pages = "4641--4646",
booktitle = "ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings",

}

TY - GEN

T1 - Fastest guidance control avoiding slipping of carrying objects and experimental evaluation

AU - Mukono, Masanori

AU - Minami, Mamoru

PY - 2009

Y1 - 2009

N2 - 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 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.

AB - 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 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.

KW - Carrying object

KW - Guidance method

KW - Mobile robot

KW - Slipping

UR - http://www.scopus.com/inward/record.url?scp=77951099205&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951099205&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:77951099205

SN - 9784907764333

SP - 4641

EP - 4646

BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

ER -