DYNAMICAL MODEL OF MOBILE ROBOT INCLUDING SLIPPING OF CARRYING OBJECTS
Mamoru Minami, Takeshi Ikeda, Motoya Takeuchi · Institutional Repositories DataBase (IRDB) · 2007
Force and torque induced by the traveling motion of a mobile robot dynamically \taffects the objects being carried on it. If the induced inertia force and torque are \tlarger than the static friction force and torque, the carried objects begin to slip on the \tmobile robot. The final objective of this research was to construct a guidance controller \tthat could travel as quickly as possible and prevent the carried objects from slipping. To \tachieve this, we modeled a mobile robot carrying plural objects to analyze their slipping \tmotions and the influence slipping had on the traveling motion. The results of simulations \twere compared to actual slipping results obtained from experiments using a real \tmobile robot. The agreement between simulated and experimented results indicated that \tthe proposed model could correctly describe the motion of the mobile robot carrying objects.