A measure of machine stability for moving base manipulators

Ghasempoor, Ahmad; Sepehri, Nariman

doi:10.1109/robot.1995.525596

Cited by 75 publications

(46 citation statements)

References 8 publications

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“…Thus, the central height of the robot's steering wheel is required to be higher than the height of a step. This geometrical condition can be represented by formula (16):…”

Section: The Basic Conditions For Stairs-climbingmentioning

confidence: 99%

Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Tao

Feng

2012

International Journal of Advanced Robotic Systems

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Aiming at the functional requirement of climbing up the stairs, the dynamics and stability during a tracked mobile robot's climbing of stairs is studied. First, from the analysis of its cross-country performance, the mechanical structure of the tracked mobile robot is designed and the hardware composition of its control system is given. Second, based on the analysis to its stairs-climbing process, the dynamical model of stairs-climbing is established by using the classical mechanics method. Next, the stability conditions for its stairs-climbing are determined and an evaluation method of its stairs-climbing stability is proposed, based on a mechanics analysis on the robot's backwards tumbling during the stairs-climbing process. Through simulation and experiments, the effectiveness of the dynamical model and the stability evaluation method of the tracked mobile robot in stairs-climbing is verified, which can provide design and analysis foundations for the tracked mobile robots' stairs-climbing.

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“…Thus, the central height of the robot's steering wheel is required to be higher than the height of a step. This geometrical condition can be represented by formula (16):…”

Section: The Basic Conditions For Stairs-climbingmentioning

confidence: 99%

Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Tao

Feng

2012

International Journal of Advanced Robotic Systems

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“…Several kinematic and dynamic modelling methods were presented for mobile manipulators in the past decade, such as the Kane's method (Tanner & Kyriakopoulos, 2001), the Newton-Euler method (Chung & Velinsky, 1999) and the Lagrange method (Li & Liu, 2004b;Liu & Li, 2005a;Yu & Chen, 2002). Tip-over analysis and prevention attracted numerous scholars and several tip-over stability criteria were defined, such as the potential energy stability level (Ghasempoor & Sepehri, 1995), the force-angle stability measure (Papadopoulos & Rey, 1996), the zero moment point criterion (Furuno et al, 2003), and the criterion based on supporting forces (Li & Liu, 2005b). Extensive literatures can be found on control of mobile manipulators.…”

Section: Introductionmentioning

confidence: 99%

Dynamics and Control for Nonholonomic Mobile Modular Manipulators

Li¹,

Liu²

2006

Mobile Robotics, Moving Intelligence

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“…Using a technique which is an extension of the energy stability level concept, Ghamsepoor and Sepehri (1995) developed a means to quantify stability measures applicable to mobile manipulators. Joshi and Desrochers (1986) represented the motion due to the mobile platform by an angular displacement (disturbance) to a two-linked arm.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of tracking control for a mobile manipulator: Nonholonomic and dynamic cases

Chung

Hong

1999

KSME International Journal

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This paper gives an in-depth treatment of the modeling and control of a mobile manipulator which consists of a robotic manipulator mounted upon a mobile robot. By neglecting slip of the platform's tires, nonholonomic constraints are introduced into the equations of motion. By considering wheel slip, the assumption of nonholonomic motion is violated. Nonholonomic and dynamic models of a mobile manipulator are developed and compared using the Lagrange -d'Alembert formulation and the Newton-Euler method, respectively. The dynamic model which considers wheel slip incorporates a nonlinear tire friction model. The tracking problem is investigated by using input-output linearization for the nonholonomic model. For the dynamic model, a robust control method based on a matching condition is developed to eliminate the harmful effects of wheel slip, which acts as a disturbance to the system. Then, the effect of wheel slip on the tracking of commanded motion is identified via simulation. The effectiveness of the proposed control algorithm is demonstrated through computer simulation.

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A measure of machine stability for moving base manipulators

Cited by 75 publications

References 8 publications

Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Dynamics and Control for Nonholonomic Mobile Modular Manipulators

Comparative study of tracking control for a mobile manipulator: Nonholonomic and dynamic cases

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