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

A. M.H.S. Abeykoon, Kouhei Ohnishi

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - Thirteenth International Symposium on Temporal Representation and Reasoning, TIME 2006
ページ756-760
ページ数5
DOI
出版ステータスPublished - 2005 12月 1
イベント2005 3rd IEEE International Conference on Industrial Informatics, INDIN - Perth, Australia
継続期間: 2005 8月 102005 8月 12

出版物シリーズ

名前2005 3rd IEEE International Conference on Industrial Informatics, INDIN
2005

Other

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

ASJC Scopus subject areas

  • 工学(全般)

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