Experimantal verification of fastest guidance control preventing carrying objects from slipping

Kosuke Okumura, Masanori Mukono, Mamoru Minami

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


Force and torque induced by traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced force and torque should be bigger than the static friction force and torque exerting between the carrying objects and the mobile robot, the carrying objects start to slip. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. On the other hand, mobile robots are desired to transfer the carrying objects as fast as it can. On this view point of contradicted requirements, this paper purposes to design a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction to avoid slipping of carrying objects during traveling.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010

Publication series

NameProceedings of the SICE Annual Conference


  • Carrying object
  • Guidance method
  • Mobile robot
  • Slipping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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