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 - 2012/12/1
Y1 - 2012/12/1
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
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U2 - 10.1109/SCIS-ISIS.2012.6505217
DO - 10.1109/SCIS-ISIS.2012.6505217
M3 - Conference contribution
AN - SCOPUS:84877823697
SN - 9781467327428
T3 - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
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
T2 - 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
Y2 - 20 November 2012 through 24 November 2012
ER -