抄録
Force and torque induced by traveling motion and moving operations of a mobile manipulator effect dynamically to the objects being carried on it. If the induced inertia force be bigger than the static friction force, the carrying objects start to slip on the mobile manipulator, and further the start of slipping of one object may cause dangerous collapse of all carrying objects, since the start of slipping makes the traveling acceleration increase in a stepping manner through stepping reduction of coulomb friction force between carrying objects and vehicle. And moreover it interferes with accurate traveling operations for dexterous behaviors of mobile manipulator. A purpose of this research is to propose a model of mobile manipulator to analyze the influences of the slipping to the motion and to discuss conditions for the controller of guidance and moving operations to avoid slipping. In this paper, We propose a model of mobile manipulator with n links including the slipping motion of the plural carrying objects. Using the proposed model, the influences of the slipping are analyzed and justification of the model is verified by simulations.
