DocumentCode :
3324259
Title :
Motion control of passive mobile robot with multiple casters based on feasible braking force and moment
Author :
Saida, Masao ; Hirata, Yasuhisa ; Kosuge, Kazuhiro
Author_Institution :
Derartment of Bioeng. & Robot., Tohoku Univ., Sendai, Japan
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
3130
Lastpage :
3137
Abstract :
We introduce a passive mobile robot called CPRP (Caster-type Passive Robot Porter). This robot consists of multiple casters with servo brakes and a controller. C-PRP employs passive dynamics with respect to the force applied by a human. Its appropriate motion is controlled using the servo brakes. In this paper, we derive and analyze a feasible braking force/moment that can be applied to the robot on the basis of the characteristics of the servo brakes. In addition, we propose a motion control algorithm for C-PRP based on the analysis of this feasible braking force/moment. This algorithm is independent of the number of casters. The proposed algorithm is applied to a four-wheeled C-PRP and the experimental results confirm its validity.
Keywords :
mobile robots; motion control; robot dynamics; caster-type passive robot porter; feasible braking force-moment; four-wheeled C-PRP; motion control algorithm; multiple casters; passive dynamics; passive mobile robot; servo brakes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5650940
Filename :
5650940
Link To Document :
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