Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon

M. Juhairi Aziz Safar, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

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

2 Citations (Scopus)

Abstract

A holonomic omnidirectional mobile robot with active dual-wheel caster assemblies is proposed as a robotic transport vehicle. With concern to the existence of sudden acceleration and other dynamical effects during maneuver, the tip-over instability monitoring is very important to prevent any unexpected injuries and property damage. This work presents the preventive method of the tip-over occurrence by estimating the tipping direction and stability metrics. The dynamical model of the omnidirectional mobile robot is derived to estimate the net force from the supporting reaction force at each wheel which is caused by the inertial and external forces. The direction of tipping and the stability metric is estimated using Force-angle Stability Measure (FASM). The performance of the tip-over prediction for an omnidirectional mobile robot with active dual-wheel assemblies is shown by the conducted simulations.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages149-154
Number of pages6
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Fingerprint

Mobile robots
Wheels
Robotics
Monitoring

Keywords

  • Active dual-wheel caster
  • Omnidirectional mobile robot
  • Roll-over
  • Stability
  • Tip-over

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Safar, M. J. A., Watanabe, K., Maeyama, S., & Nagai, I. (2012). Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. In Proceedings of the SICE Annual Conference (pp. 149-154). [6318424]

Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. / Safar, M. Juhairi Aziz; Watanabe, Keigo; Maeyama, Shoichi; Nagai, Isaku.

Proceedings of the SICE Annual Conference. 2012. p. 149-154 6318424.

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

Safar, MJA, Watanabe, K, Maeyama, S & Nagai, I 2012, Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. in Proceedings of the SICE Annual Conference., 6318424, pp. 149-154, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Safar MJA, Watanabe K, Maeyama S, Nagai I. Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. In Proceedings of the SICE Annual Conference. 2012. p. 149-154. 6318424
Safar, M. Juhairi Aziz ; Watanabe, Keigo ; Maeyama, Shoichi ; Nagai, Isaku. / Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. Proceedings of the SICE Annual Conference. 2012. pp. 149-154
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