Guidance Method for Mobile Manipulators Preventing Carrying Objects from Slipping

This research is concerned with a guidance method for mobile manipulators preventing carrying objects from slipping on a mobile manipulator while traveling, In this report, a new guidance method, III which translational and rotational accelerations for preventing slip are determined by considering analytically a mass and a position of a carrying object and friction forces, is proposed. In addition, it is shown that the proposed method can navigate a mobile manipulator without slipping of a carrying object through real experiments.