TY - GEN
T1 - Fastest guidance control with acceleration restriction of PWS mobile robot
AU - Yazaki, Yasuhiro
AU - Ikeda, Takeshi
AU - Minami, Mamoru
AU - Mae, Yasushi
PY - 2006
Y1 - 2006
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 on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. Then we propose a fastest guidance control method with acceleration restriction of Power Wheeled Steering (PWS) mobile robot to prevent slipping of carrying objects. The performances have been examined by simulations and experiments.
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 on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. Then we propose a fastest guidance control method with acceleration restriction of Power Wheeled Steering (PWS) mobile robot to prevent slipping of carrying objects. The performances have been examined by simulations and experiments.
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U2 - 10.1109/IROS.2006.282310
DO - 10.1109/IROS.2006.282310
M3 - Conference contribution
AN - SCOPUS:34250629188
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1873
EP - 1878
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -