Modeling of Mobile Robot Considering Slipping Movement of Carrying Objects and Experiments

Abstract

Force and torque induced by traveling motion and moving operations of a mobile robot effect, dynamically to the objects being carried on it. If the induced force and torque should be bigger than the maximum static friction force and torque, the carrying objects may start to slip on the mobile robot. Since this slipping motion may increase the acceleration of the mobile robot, then the slipping of one object may cause a collapse of all carrying objects, which is thought to be dangerous. Furthermore it interferes with accurate moving operations. A purpose of this research is to make a model of mobile robot 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 propose a model of mobile robot 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 and experiments.