TY - GEN
T1 - Guidance control of mobile robot preventing slipping of carrying objects
AU - Yazaki, Yasuhiro
AU - Ikeda, Takeshi
AU - Minami, Mamoru
AU - Mae, Yasushi
PY - 2005
Y1 - 2005
N2 - 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 on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. From these influence again safe transportation without fixations of the objects to the mobile robot to save time and to increase production efficiency in factories, this paper purposes a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction not to slip the carrying objects during traveling.
AB - 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 on it. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads a dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. From these influence again safe transportation without fixations of the objects to the mobile robot to save time and to increase production efficiency in factories, this paper purposes a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction not to slip the carrying objects during traveling.
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U2 - 10.1109/IECON.2005.1569175
DO - 10.1109/IECON.2005.1569175
M3 - Conference contribution
AN - SCOPUS:33749658397
SN - 0780392523
SN - 9780780392526
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1779
EP - 1784
BT - IECON 2005
T2 - IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Y2 - 6 November 2005 through 10 November 2005
ER -