TY - GEN
T1 - Experimental research of a passive multiple trailer system for backward motion control
AU - Myoungkuk, Park
AU - Woojin, Chung
AU - Munsang, Kim
PY - 2005
Y1 - 2005
N2 - A passive multiple trailer system provides various practical advantages in order to develop multi-functional service robots. So far, we have proposed kinematic design of passive trailers, and backward motion control schemes in our prior work. In this paper, we propose two significant considerations based on practical experiences on backward control of multi-trailer system. The first issue is an analysis on the effect of joint errors. Joint errors include joint angle sensing errors and backlashes at the joints. Due to the joint error, the trajectory shows an offset distance from a desired reference path. A second issue is a slip detection based on a simplified dynamic model of the trailer system. The trailer system is designed based on the kinematic constraints, which imply rolling without slipping at wheels. We discuss how a practical trailer system can be controlled without violating kinematic constraints. Finally, we show the analogies and relationships between the off-hooked trailer and the previously proposed three point trailer.
AB - A passive multiple trailer system provides various practical advantages in order to develop multi-functional service robots. So far, we have proposed kinematic design of passive trailers, and backward motion control schemes in our prior work. In this paper, we propose two significant considerations based on practical experiences on backward control of multi-trailer system. The first issue is an analysis on the effect of joint errors. Joint errors include joint angle sensing errors and backlashes at the joints. Due to the joint error, the trajectory shows an offset distance from a desired reference path. A second issue is a slip detection based on a simplified dynamic model of the trailer system. The trailer system is designed based on the kinematic constraints, which imply rolling without slipping at wheels. We discuss how a practical trailer system can be controlled without violating kinematic constraints. Finally, we show the analogies and relationships between the off-hooked trailer and the previously proposed three point trailer.
KW - Backward motion control
KW - Joint error analysis
KW - Multibody mobile robot
KW - Off-hooked trailer
KW - Passive trailers
UR - http://www.scopus.com/inward/record.url?scp=33846181378&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570104
DO - 10.1109/ROBOT.2005.1570104
M3 - Conference contribution
AN - SCOPUS:33846181378
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 105
EP - 110
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -