A Master-Slave Separate Parallel Intelligent Mobile Robot Used for Autonomous Pallet Transportation
Open Access
- 22 January 2019
- journal article
- research article
- Published by MDPI AG in Applied Sciences
- Vol. 9 (3), 368
- https://doi.org/10.3390/app9030368
Abstract
This work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar to two forks of the forklift, but the slave robot does not have any physical or mechanical connection with the master robot. A compact driving unit was designed and used to ensure access to the narrow free entry under the pallets. It was also possible for the mobile robot to perform a synchronous pallet lifting action. In order to ensure the consistency and synchronization of the motions of the two sub robots, high-gain observer was used to synchronize the moving speed, the lifting speed and the relative position. Compared with the traditional forklift AGV (Automated Guided Vehicle), the mobile robot has the advantages of more compact structure, higher expandability and safety. It can move flexibly and take zero-radius turn. Therefore, the intelligent mobile robot is quite suitable for the standardized logistics factory with small working space.Funding Information
- National Natural Science Foundation of China (61673288)
This publication has 6 references indexed in Scilit:
- The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing SystemSensors, 2017
- The evolution and future of manufacturing: A reviewJournal of Manufacturing Systems, 2016
- An adaptive high-gain observer for nonlinear systemsAutomatica, 2010
- Neuartiges Antriebskonzept zum Fahren, Lenken und HebenLogistics Journal Proceedings, 2010
- Transport process automation with industrial forkliftsIFAC Proceedings Volumes, 2003
- A control engineer's guide to sliding mode controlIEEE Transactions on Control Systems Technology, 1999