積載物の滑りを考慮した移動マニピュレータの動力学(機械力学,計測,自動制御)

概要

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Force and torque induced by motions of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force and torque are bigger than the static friction force and torque, the carrying objects stary slipping motion on the mobile manipulator. As the result of it, the movement of carrying object may cause a collapse of all carrying objects, since a start of slipping makes the traveling acceleration of the mobile manipulator increase, furthermore it interferes with accurate traveling operations. A final purpose of this research is to propose a navigation controller of mobile manipulator that prevents the carrying objects from slipping. As a first step of this destination, we propose a model of n-link Power Wheeled Steering (PWS) mobile manipulator including the slipping motion of plural carrying objects. Using the proposed model, dynamical influences of the slipping are analyzed and the model is justified through several simulations.
一般社団法人日本機械学会の論文
2005-12-25