Title :
Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity
Author :
Abeykoon, A.M.H.S. ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
Abstract :
In this paper, a traction control method for a two wheel mobile robot is presented. Traction force acting on a wheel is dependent upon the dynamic frictional coefficient and the reaction force acting on each wheel, it is proposed to obtain the maximum traction force by selecting the best value for slip percentage as well as selecting a suitable value for the reaction force. Reaction force variation is achieved by changing the centre of gravity (COG) of the mobile robot. Two electric motors are used to drive the two wheel manipulator.
Keywords :
force control; manipulators; mobile robots; traction; centre of gravity; electric motors; mobile robot; traction control method; traction force improvement; two wheel mobile manipulator; Control systems; Design engineering; Electric motors; Force control; Friction; Gravity; Manipulators; Mobile robots; Vehicle dynamics; Wheels;
Conference_Titel :
Industrial Informatics, 2005. INDIN '05. 2005 3rd IEEE International Conference on
Print_ISBN :
0-7803-9094-6
DOI :
10.1109/INDIN.2005.1560468