Tip-over stability enhancement for omnidirectional mobile robot

Abstract

Purpose

The purpose of this paper is to analyze the stability behavior of the omnidirectional mobile robot with active dual-wheel caster (ADWC) assemblies and provide a stable trajectory without any tip-over incident. The omnidirectional mobile robot to be developed is for transporting cuboid-shaped objects.

Design/methodology/approach

The omnidirectional transport mobile robot is designed using an ADWC assemblies structure, the tip-over occurrence is estimated based on the support forces of an active footprint, the tip-over direction is predicted, the tip-over stability is enhanced to prevent the tip-over occurrence and a fast traveling motion is provided.

Findings

The omnidirectional mobile robot tends to tip-over more on the sides with small ranges of tip-over angle. The proposed method for estimating the tip-over occurrence and enhancing the stability using the gyroscopic torque device was feasible as the tip-over prevention system of the omnidirectional mobile robot with ADWC assemblies.

Originality/value

The research addresses the study of the tip-over stability for the omnidirectional mobile robot that possesses an active footprint. It also addresses the prediction of the tip-over occurrence using the derived dynamical model together with force-angle stability measure and the tip-over stability enhancement method using a single-gimbal control moment gyro device.

Citation

Juhairi Aziz Safar, M., Watanabe, K., Maeyama, S. and Nagai, I. (2014), "Tip-over stability enhancement for omnidirectional mobile robot", International Journal of Intelligent Unmanned Systems, Vol. 2 No. 2, pp. 91-106. https://doi.org/10.1108/IJIUS-12-2013-0024