Effect of Mobile Manipulator on Motion by Movement of Carrying Object

Abstract

Induced force and torque by the travelling motion effect to the carrying objects. If they are bigger than the static friction force and torque, the carrying objects may slip on the mobile manipulator. It is dangerous, because this motion may cause a collapse of loads. And it interferes with accurate operations such as loading, carrying and unloading, which are fundamental function of the mobile manipulator. A purpose of previous research was to guide a mobile manipulator without a movement of carrying objects. Therefore, it is not considered the dynamical effects of carrying object. A purpose of this research is to make a model considering a movement of carrying objects on the mobile manipulator. First, a dynamical nonholonomic mobile robot is formulated. Second, a justification of the model is verified by simulation. Third, the same, a dynamical nonholonomic mobile manipulator with one link is formulated. Finally, a justification of the model is verified by simulations.