Abstract
This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.
| Original language | English |
|---|---|
| Title of host publication | 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 |
| Pages | 763-768 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2012 |
| Event | 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe, Japan Duration: Nov 20 2012 → Nov 24 2012 |
Other
| Other | 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 |
|---|---|
| Country | Japan |
| City | Kobe |
| Period | 11/20/12 → 11/24/12 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Software
Cite this
Tip-over stability prediction for a holonomic omnidirectional transport mobile robot. / Juhairi Aziz Safar, M.; Watanabe, Keigo; Maeyama, Shoichi; Nagai, Isaku.
6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 763-768 6505217.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Tip-over stability prediction for a holonomic omnidirectional transport mobile robot
AU - Juhairi Aziz Safar, M.
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
AU - Nagai, Isaku
PY - 2012
Y1 - 2012
N2 - This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.
AB - This paper presents a study on tip-over prediction for a holonomic omnidirectional transport mobile robot with active dual-wheel caster (ADWC) assemblies. With concern to the dynamic supporting polygon and the existence of sudden dynamic changes during maneuver, the tip-over stability monitoring and its prevention becomes important. The candidate of tip-over axis and its direction is estimated by the combination of dynamical model and force-angle stability measure (FASM). In this paper, the effect of different loads and center of gravity is examined to analyze their relationship to the tip-over stability measurement. The performance of this prediction method is shown by the conducted simulations.
UR - http://www.scopus.com/inward/record.url?scp=84877823697&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84877823697&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2012.6505217
DO - 10.1109/SCIS-ISIS.2012.6505217
M3 - Conference contribution
AN - SCOPUS:84877823697
SN - 9781467327428
SP - 763
EP - 768
BT - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
ER -