Effects of Slipping Motions of Carrying Objects on Traveling Mobile Manipulator

スポンサーリンク

概要

• 論文の詳細を見る

• Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced force is bigger than the static friction force, the carrying objects start slipping motion in the mobile manipulator. As the result, the movement of one carrying object may cause a collapse of all carrying objects, since a start of slipping makes the acceleration of mobile robot increase, furthermore it interferes with accurate traveling operations and moreover it is dangerous. In this paper, we propose a model of n-link mobile manipulator including the slipping motion of plural carrying objects.

• 一般社団法人日本機械学会の論文

著者

• Minami Mamoru

  福井大

• Minami Mamoru

  Department Of Intelligent Systems Fukui University

• Ikeda Takeshi

  Graduate School of Engineering, Fukui University

• Naniwa Tomohide

  Department of Intelligent Systems, Fukui University

• Naniwa T

  Department Of Intelligent Systems Fukui University

• Naniwa Tomohide

  Department Of Human And Artificial Intelligent Systems Faculty Of Engineering University Of Fukui

• Ikeda Takeshi

  Graduate School Of Engineering Fukui University

関連論文

• Effects of Slipping Motions of Carrying Objects on Traveling Mobile Manipulator
• 2A1-66-086 Fish Tracking using Global/Local Search of a GA and Raw-image
• GA-Model-based Scene Recognition using Raw-image and Model-filtering : A Comparative Study between Traditional Filtering and the Concept of Model-filtering
• GA-pattern matching-based manipulator control system for real-time visual servoing
• Position control and explicit force control of constrained motions of a manipulator for accurate grinding tasks
• Position Control and Explicit Force Control of Constrained Motions of a Manipulator for Grinding Tasks
• GA_3 and Proline Promote Germination of Wheat Seeds by Stimulating α-Amylase at Unfavorable Temperatures
• Experimental study of coordinated control of multifingered hands with the kinetostatic filtering method

スポンサーリンク