1Dynamical Model of Mobile Robot Including Slipping of Carrying Objects

Force and torque induced by the traveling motion of a mobile robot effect dynamically to the objects being carried on it. If the induced inertia force and torque should be bigger than the static friction force and torque, the carrying objects begin to slip on the mobile robot. A final purpose of this research is to construct a guidance controller that can travel as fast as possible, on a condition of preventing the slipping of the carrying objects. For this purpose, we modeled a mobile robot carrying plural objects to analyze slipping motion of the objects and the influences of the slipping to the traveling motion. The results of the simulations are compared to the actual slipping results of the objects carried by the real mobile robot. The consistency of the simulated results and experimented ones shows that the proposed model describes correctly the motion of the mobile robot including carrying objects. Robots play an important role in various kinds of factories in recent years. The robots have been utilized in the factories to construct effective production systems, and to promote automation and unmanned production. But many industrial robots in practical use are fixed on a floor, and then the operational areas of those robots are limited. If the robots have an ability to move freely, the operationa