DYNAMICAL MODEL OF MOBILE ROBOT INCLUDING SLIPPING OF CARRYING OBJECTS
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概要
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Force and torque induced by the traveling motion of a mobile robot dynamicallyaffects the objects being carried on it. If the induced inertia force and torque arelarger than the static friction force and torque, the carried objects begin to slip on themobile robot. The final objective of this research was to construct a guidance controllerthat could travel as quickly as possible and prevent the carried objects from slipping. Toachieve this, we modeled a mobile robot carrying plural objects to analyze their slippingmotions and the influence slipping had on the traveling motion. The results of simulationswere compared to actual slipping results obtained from experiments using a realmobile robot. The agreement between simulated and experimented results indicated thatthe proposed model could correctly describe the motion of the mobile robot carrying objects.
- ICIC Internationalの論文
- 2007-04-00
ICIC International | 論文
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