2013
Tip-over Stability Control for a Holonomic Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies using SGCMG
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
- ,
- ,
- ,
- First page
- 4866
- Last page
- 4871
- Language
- English
- Publishing type
- DOI
- 10.1109/IROS.2013.6697058
- Publisher
- IEEE
In this paper, we present the tip-over prevention technique using a control moment gyro for a holonomic omnidirectional mobile robot with active dual wheel caster assemblies. With concern to the sudden dynamic changes during maneuver, the dynamical model is derived and used together with the force-angle stability measure (FASM) to estimate the tip-over incident and the tipping direction. A single gimbal control moment gyro (SGCMG) is proposed to counter the instability by producing a precession torque in the opposite direction of the estimated tip-over direction. Simulation results are given to demonstrate the performance of this approach.
- Link information
- ID information
-
- DOI : 10.1109/IROS.2013.6697058
- ISSN : 2153-0858
- Web of Science ID : WOS:000331367404139