Abstract:

The manipulator’s acceleration and load quality have influence on steering pose of the forklift robot in its operation. Change of acceleration and load quality of the manipulator is transformed into jump of working centroid of the forklift robot. The steering pose error model of the forklift robot is established based on sideslip motion by the coordinate transformation. The effect of acceleration and load quality of the manipulator on steering pose of the forklift robot is analyzed based on the steering pose error model. Analysis shows that change of acceleration and load quality of the manipulator can result in various degrees of understeer and oversteer of the forklift robot.

Key words: forklift robot, coordinate transformation, sideslip, steering pose, error modeling