A passive multiple trailer system for indoor service robots
It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passi...
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| creator | Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song |
| description | It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented. |
| doi_str_mv | 10.1109/IROS.2001.976271 |
| format | Conference Proceeding |
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Numerical simulation results and experimental results are presented.</description><subject>Control systems</subject><subject>Costs</subject><subject>Mechanical systems</subject><subject>Open loop systems</subject><subject>Performance analysis</subject><subject>Robot kinematics</subject><subject>Service robots</subject><subject>Stability</subject><subject>Trajectory</subject><subject>Transportation</subject><isbn>0780366123</isbn><isbn>9780780366121</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2001</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp9jj0LwjAUAAMi-NVdnPIHrC9NbSxOIopOgrqXqK8QSU3Ji4X-ews6e8sNtxxjUwGxEJAvjufTJU4ARJyrLFGix0agViCzTCRywCKiJ3Sky1QqGLL1hteayDTIq7cNprbIg9fGoufUUsCKl85z83q4ToS-MXfk3t1coAnrl9oSRj-P2Wy_u24Pc4OIRe1NpX1bfDfk3_gBGG421g</recordid><startdate>2001</startdate><enddate>2001</enddate><creator>Jaehyoung Lee</creator><creator>Woojin Chung</creator><creator>Munsang Kim</creator><creator>Chongwon Lee</creator><creator>Jeabok-Song</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2001</creationdate><title>A passive multiple trailer system for indoor service robots</title><author>Jaehyoung Lee ; Woojin Chung ; Munsang Kim ; Chongwon Lee ; Jeabok-Song</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_9762713</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2001</creationdate><topic>Control systems</topic><topic>Costs</topic><topic>Mechanical systems</topic><topic>Open loop systems</topic><topic>Performance analysis</topic><topic>Robot kinematics</topic><topic>Service robots</topic><topic>Stability</topic><topic>Trajectory</topic><topic>Transportation</topic><toplevel>online_resources</toplevel><creatorcontrib>Jaehyoung Lee</creatorcontrib><creatorcontrib>Woojin Chung</creatorcontrib><creatorcontrib>Munsang Kim</creatorcontrib><creatorcontrib>Chongwon Lee</creatorcontrib><creatorcontrib>Jeabok-Song</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jaehyoung Lee</au><au>Woojin Chung</au><au>Munsang Kim</au><au>Chongwon Lee</au><au>Jeabok-Song</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A passive multiple trailer system for indoor service robots</atitle><btitle>Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)</btitle><stitle>IROS</stitle><date>2001</date><risdate>2001</risdate><volume>2</volume><spage>827</spage><epage>832 vol.2</epage><pages>827-832 vol.2</pages><isbn>0780366123</isbn><isbn>9780780366121</isbn><abstract>It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2001.976271</doi></addata></record> |
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| identifier | ISBN: 0780366123 |
| ispartof | Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2001, Vol.2, p.827-832 vol.2 |
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| language | eng |
| recordid | cdi_ieee_primary_976271 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems Costs Mechanical systems Open loop systems Performance analysis Robot kinematics Service robots Stability Trajectory Transportation |
| title | A passive multiple trailer system for indoor service robots |
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