Chung, Woojin Park, Myoungkuk Yoo, Kwanghyun Roh, Jae Il Choi, Jongsuk 2024-01-20T16:02:32Z 2024-01-20T16:02:32Z 2021-09-05 2011-11 1738-494X https://pubs.kist.re.kr/handle/201004/129842 A passive multiple-trailer system provides various practical advantages for multi-functional service robots. However, motion control is difficult because the kinematic model is highly nonlinear. The kinematic design of a trailer system was proposed in prior research of ours. In this paper, it is shown how the backward motion of a robot with n passive trailers can be controlled. Once the desired trajectory of the last trailer is computed, the control input of the pushing robot is obtained through the proposed control scheme. Some experimental issues on reversing the trailer system are addressed. This paper provides an answer to the following question: "Does the system work well even if there are sensing or modeling errors?" Although it is difficult to obtain general analytic solutions for the above research question, a practical answer will be explored though simplified analysis and experiments. Experimental verifications are carried out using a mobile robot with three passive trailers. The experimental results show that backward-motion control can be successfully carried out by applying the proposed control scheme. English KOREAN SOC MECHANICAL ENGINEERS DESIGN VEHICLE Backward-motion control of a mobile robot with n passive off-hooked trailers Article 10.1007/s12206-011-0909-7 1 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.11, pp.2895 - 2905 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 25 11 2895 2905 scie scopus kci ART001598021 000296926200021 2-s2.0-81455147398 Engineering, Mechanical Engineering Article DESIGN VEHICLE Passive trailer Reconfigurable robot Backward-motion control Trajectory tracking Under-actuated system