Guidance control of mobile robot preventing slipping of carrying objects

Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minami, Yasushi Mae

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

5 Citations (Scopus)

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 on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. From these influence again safe transportation without fixations of the objects to the mobile robot to save time and to increase production efficiency in factories, this paper purposes a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction not to slip the carrying objects during traveling.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Pages1779-1784
Number of pages6
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: Nov 6 2005Nov 10 2005

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
Volume2005

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period11/6/0511/10/05

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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