Tip-over stability control for a holonomic omnidirectional mobile robot with active dual-wheel caster assemblies using SGCMG

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

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

2 Citations (Scopus)

Abstract

In this paper, we present the tip-over prevention technique using a control moment gyro for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies. With concern to the sudden dynamic changes during maneuver, the dynamical model is derived and used together with the force-angle stability measure (FASM) to estimate the tip-over incident and the tipping direction. A single gimbal control moment gyro (SGCMG) is proposed to counter the instability by producing a precession torque in the opposite direction of the estimated tip-over direction. Simulation results are given to demonstrate the performance of this approach.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4866-4871
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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