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 language | English |
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| Pages | 2955-2960 |
| Number of pages | 6 |
| Publication status | Published - 2002 |
| Externally published | Yes |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sept 30 2002 → Oct 4 2002 |
Other
| Other | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 9/30/02 → 10/4/02 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications