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 publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages149-154
Number of pages6
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 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

Publication series

NameProceedings of the SICE Annual Conference

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

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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

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