In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.

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The stability margin for Tracked Vehicle that are sufficient conditions for safe. The stability margin bases on energy stability level at each edge of support boundary. Similarly, this concept takes into consideration the instantane ous change of machine's center of gravity position while the manipulator swings with a constant velocity. Moreover, inertial and manipulation effects usually appear in the motion of such vehicles when that are used for services or indus trial applications. The stability margin mentions the minimum of dynamic energy level changing follow boundary edge during motion is proposed without turning over. In this paper, the stability of vehicle is investigated as the reflection of the interact energy. If this energy level is over the margin, it will make projection of center of gravity to be out of the support boundary, the machine will be turned over. This paper presents a type of survey to analysis the safe margin of this machine in various situations.

In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. The energy stability level is calculated by using the dynamic models of field robot, subject to the concept of equilibrium plane and support boundary. The results are simulated by using Matlab/Simulink for estimating the stability of field robot to supply useful predictions of stability analysis to designers and operators ..

An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.