2012 Volume 78 Issue 792 Pages 2898-2913
This paper proposes a cooperative transfer control by using three wheeled mobile robots (WMRs). One WMR is designated as a leader, and other two WMRs are followers. A carrier platform is supported by links with passive joints on the WMRs. The carrier platform is always kept levelly when WMRs run along a straight path on a slope. A level control of the carrier platform is achieved by the position control of WMRs. The reference positions of the followers to level the carrier platform are calculated with a geometric model when the leader runs along target path. The followers are moved to the reference positions with a PID control. The usefulness of the proposed method is demonstrated through simulation and experimental results.
Transactions of the Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers
Transactions of the Japan Society of Mechanical Engineers Series A
Transactions of the Japan Society of Mechanical Engineers Series B
Transactions of the Japan Society of Mechanical Engineers Series C
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series B