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 | Proceedings of the SICE Annual Conference |
| Pages | 149-154 |
| Number of pages | 6 |
| Publication status | Published - 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 |
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 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Tip-over prediction for an omnidirectional mobile robot with dynamic supporting polygon
AU - Safar, M. Juhairi Aziz
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
AU - Nagai, Isaku
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - Active dual-wheel caster
KW - Omnidirectional mobile robot
KW - Roll-over
KW - Stability
KW - Tip-over
UR - http://www.scopus.com/inward/record.url?scp=84869381430&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869381430&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84869381430
SN - 9781467322591
SP - 149
EP - 154
BT - Proceedings of the SICE Annual Conference
ER -