DYNAMICAL MODEL OF MOBILE ROBOT INCLUDING SLIPPING OF CARRYING OBJECTS

• 資料種別: 文書・図像類
• タイトル: DYNAMICAL MODEL OF MOBILE ROBOT INCLUDING SLIPPING OF CARRYING OBJECTS
• 著者・編者: Minami, Mamoru; Ikeda, Takeshi; Takeuchi, Motoya
• 著者標目: Minami, Mamoru; Ikeda, Takeshi; Takeuchi, Motoya
• 出版事項: ICIC International
• 出版年月日等: 2007-04
• 出版年（W3CDTF）: 2007-04
• タイトル（掲載誌）: International Journal of Innovative Computing, Information and Control
• 巻号年月日等（掲載誌）: 3 2
• 掲載巻: 3
• 掲載号: 2
• 掲載ページ: 353-369
• ISSN（掲載誌）: ISSN : 1349-4198
• 本文の言語コード: eng
• 件名標目: Mobile robot; Dynamical model; Carried object; Slipping object
• 対象利用者: 一般
• 一般注記: Force and torque induced by the traveling motion of a mobile robot dynamically affects the objects being carried on it. If the induced inertia force and torque are larger than the static friction force and torque, the carried objects begin to slip on the mobile robot. The final objective of this research was to construct a guidance controller that could travel as quickly as possible and prevent the carried objects from slipping. To achieve this, we modeled a mobile robot carrying plural objects to analyze their slipping motions and the influence slipping had on the traveling motion. The results of simulations were compared to actual slipping results obtained from experiments using a real mobile robot. The agreement between simulated and experimented results indicated that the proposed model could correctly describe the motion of the mobile robot carrying objects.
• 一次資料へのリンクURL: https://u-fukui.repo.nii.ac.jp/?action=repository_action_common_download&item_id=22684&item_no=1&attribute_id=22&file_no=1
• オンライン閲覧公開範囲: 限定公開
• 連携機関・データベース: 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）; https://irdb.nii.ac.jp
• 提供元機関・データベース: 福井大学 : 福井大学学術機関リポジトリ