PWS型移動ロボットの加速度制限付き最速誘導制御

抄録

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 on it. 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 guidance control. On the other hand, mobile robots are desired to transfer the carrying objects as fast as it can. On this view point of this contradicted requirement, this paper purposes a controller to guide a mobile robot along a given course as fast as possible with acceleration restriction not to slip the carrying objects during traveling. The performances have been examined by simulations.