By Topic

Fastest guidance control avoiding slipping of carrying objects and experimental evaluation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Mukono, M. ; Grad. Sch. of Eng., Univ. of Fukui, Fukui, Japan ; Minami, M.

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. Since this slipping motion causes increasing the acceleration of the mobile robot, then the slipping of one object leads to dangerous collapse of all carrying objects. Furthermore it interferes with accurate traveling motions. On the other hand, mobile robots are desired to transfer the carrying objects as fast as it can. On this view point of contradicted requirements, this paper purposes a controller to guide the mobile robot along a given course as fast as possible with acceleration restriction to avoid slipping of carrying objects during traveling.

Published in:


Date of Conference:

18-21 Aug. 2009