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 publicationProceedings - Thirteenth International Symposium on Temporal Representation and Reasoning, TIME 2006
Pages756-760
Number of pages5
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 3rd IEEE International Conference on Industrial Informatics, INDIN - Perth, Australia
Duration: 2005 Aug 102005 Aug 12

Publication series

Name2005 3rd IEEE International Conference on Industrial Informatics, INDIN
Volume2005

Other

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

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

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  • 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 Proceedings - Thirteenth International Symposium on Temporal Representation and Reasoning, TIME 2006 (pp. 756-760). [1560468] (2005 3rd IEEE International Conference on Industrial Informatics, INDIN; Vol. 2005). https://doi.org/10.1109/INDIN.2005.1560468