抄録
Force and torque induced by the traveling motion and moving operations of a mobile manipulator effect dynamically to the objects being carried on it. If the induced force and torque are bigger than the static friction force and torque, the carrying objects may slip on the mobile manipulator. Since this slipping motion may cause a collapse of carrying objects, it is dangerous. And it interferes with accurate moving operations. A purpose of this research is to make a model of mobile manipulator which is carrying objects, to analyze the influences of the slipping to the traveling motion and to discuss a constraint conditions for the controller of guidance and moving operations to avoid slipping. In this paper, we evaluate the proposed guidance control method of mobile manipulator by simulations.
