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

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

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 proceeding › Conference contribution

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 language	English
Title of host publication	2012 Proceedings of SICE Annual Conference, SICE 2012
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	149-154
Number of pages	6
ISBN (Print)	9781467322591
Publication status	Published - Jan 1 2012
Event	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
Country	Japan
City	Akita
Period	8/20/12 → 8/23/12

Keywords

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

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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

2012 Proceedings of SICE Annual Conference, SICE 2012. Society of Instrument and Control Engineers (SICE), 2012. p. 149-154 6318424 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Safar, MJA, Watanabe, K, Maeyama, S & Nagai, I 2012, Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon. in 2012 Proceedings of SICE Annual Conference, SICE 2012., 6318424, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 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.

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