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| Content Provider | Springer Nature Link |
|---|---|
| Author | Chung, Woojin Park, Myoungkuk Yoo, Kwanghyun Roh, Jae Il Choi, Jongsuk |
| Copyright Year | 2011 |
| Abstract | A passive multiple-trailer system provides various practical advantages for multi-functional service robots. However, motion control is difficult because the kinematic model is highly nonlinear. The kinematic design of a trailer system was proposed in prior research of ours. In this paper, it is shown how the backward motion of a robot with n passive trailers can be controlled. Once the desired trajectory of the last trailer is computed, the control input of the pushing robot is obtained through the proposed control scheme. Some experimental issues on reversing the trailer system are addressed. This paper provides an answer to the following question: “Does the system work well even if there are sensing or modeling errors?” Although it is difficult to obtain general analytic solutions for the above research question, a practical answer will be explored though simplified analysis and experiments. Experimental verifications are carried out using a mobile robot with three passive trailers. The experimental results show that backward-motion control can be successfully carried out by applying the proposed control scheme. |
| Starting Page | 2895 |
| Ending Page | 2905 |
| Page Count | 11 |
| File Format | |
| ISSN | 1738494X |
| Journal | Journal of Mechanical Science and Technology |
| Volume Number | 25 |
| Issue Number | 11 |
| e-ISSN | 19763824 |
| Language | English |
| Publisher | Korean Society of Mechanical Engineers |
| Publisher Date | 2011-11-20 |
| Publisher Place | Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Passive trailer Reconfigurable robot Backward-motion control Trajectory tracking Under-actuated system Industrial and Production Engineering Vibration, Dynamical Systems, Control Mechanical Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Mechanics of Materials Mechanical Engineering |
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