Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity

A. M H S Abeykoon, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2005 3rd IEEE International Conference on Industrial Informatics, INDIN
Pages756-760
Number of pages5
Volume2005
DOIs
Publication statusPublished - 2005
Event2005 3rd IEEE International Conference on Industrial Informatics, INDIN - Perth, Australia
Duration: 2005 Aug 102005 Aug 12

Other

Other2005 3rd IEEE International Conference on Industrial Informatics, INDIN
CountryAustralia
CityPerth
Period05/8/1005/8/12

Fingerprint

Manipulators
Wheels
Gravitation
Mobile robots
Traction control
Electric motors

Keywords

  • Centre of gravity
  • Driving force
  • Mobile robot
  • Slip
  • Traction control

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Abeykoon, A. M. H. S., & Ohnishi, K. (2005). Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity. In 2005 3rd IEEE International Conference on Industrial Informatics, INDIN (Vol. 2005, pp. 756-760). [1560468] https://doi.org/10.1109/INDIN.2005.1560468

Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity. / Abeykoon, A. M H S; Ohnishi, Kouhei.

2005 3rd IEEE International Conference on Industrial Informatics, INDIN. Vol. 2005 2005. p. 756-760 1560468.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abeykoon, AMHS & Ohnishi, K 2005, Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity. in 2005 3rd IEEE International Conference on Industrial Informatics, INDIN. vol. 2005, 1560468, pp. 756-760, 2005 3rd IEEE International Conference on Industrial Informatics, INDIN, Perth, Australia, 05/8/10. https://doi.org/10.1109/INDIN.2005.1560468
Abeykoon AMHS, Ohnishi K. Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity. In 2005 3rd IEEE International Conference on Industrial Informatics, INDIN. Vol. 2005. 2005. p. 756-760. 1560468 https://doi.org/10.1109/INDIN.2005.1560468
Abeykoon, A. M H S ; Ohnishi, Kouhei. / Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity. 2005 3rd IEEE International Conference on Industrial Informatics, INDIN. Vol. 2005 2005. pp. 756-760
@inproceedings{c09c31c951f2483c8b7c53d7b67f5a9e,
title = "Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity",
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 = "Centre of gravity, Driving force, Mobile robot, Slip, Traction control",
author = "Abeykoon, {A. M H S} and Kouhei Ohnishi",
year = "2005",
doi = "10.1109/INDIN.2005.1560468",
language = "English",
isbn = "0780390946",
volume = "2005",
pages = "756--760",
booktitle = "2005 3rd IEEE International Conference on Industrial Informatics, INDIN",

}

TY - GEN

T1 - Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity

AU - Abeykoon, A. M H S

AU - Ohnishi, Kouhei

PY - 2005

Y1 - 2005

N2 - 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.

AB - 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.

KW - Centre of gravity

KW - Driving force

KW - Mobile robot

KW - Slip

KW - Traction control

UR - http://www.scopus.com/inward/record.url?scp=33845346765&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845346765&partnerID=8YFLogxK

U2 - 10.1109/INDIN.2005.1560468

DO - 10.1109/INDIN.2005.1560468

M3 - Conference contribution

AN - SCOPUS:33845346765

SN - 0780390946

SN - 9780780390942

VL - 2005

SP - 756

EP - 760

BT - 2005 3rd IEEE International Conference on Industrial Informatics, INDIN

ER -