Modeling of PWS mobile manipulator including slipping of carrying objects

Takeshi Ikeda, Mamoru Minami

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

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 start slipping motion on the mobile manipulator. As the result of it, the movement of one carrying object may cause a collapse of all carrying objects, since a start of slipping makes the acceleration of the mobile robot increase, furthermore it interferes with accurate traveling operations and more-over it is dangerous. 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, in this paper, 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
Pages2955-2960
Number of pages6
Publication statusPublished - 2002
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ikeda, T., & Minami, M. (2002). Modeling of PWS mobile manipulator including slipping of carrying objects. 2955-2960. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.