Minimal distance vector. A new approach to avoid tip-over on mobile manipulators
Keywords:
Gravity center, robot stability, tipover, turnover prevention
Abstract
Many future applications of robotics systems will require that manipulators perform operations while being carried by moving vehicles. However, different from a manipulator fixed on the floor, such a vehicle-mounted mobile manipulator might be unstable or even tip over, this condition may be because the center of mass is over the mobile platform by the manipulator’s weight. This paper presents a new technique to avoid tip-over condition using the concept of minimal distance between the manipulator rotational center and the projection mass center arc in the soil with the object of modificate the gravity center of the et changing the manipulator rotational position on mobile platform, the final objective is to compensate the rotational moment at low velocity using counter-balance concept.Downloads
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References
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[8] L. Yugang, L. Guangjun, “Kinematics and interaction analysis for tracked mobile manipulators”, Intelligent Robots and Systems, vol. 1, no. 1, pp. 267-272, Jan. 2007.
[9] Z. Mingchao, L. Yuanchung, “Decentralized adaptive fuzzy control for reconfigurable manipulators”, Robotics, Automation and Mechatronics, vol. 1, no. 1, pp. 404-409, Feb. 2008.
[10] J. Morales, J. Martínez, A. Mandow, et al, “Center of gravity estimation and control for a field mobile robot with a Heavy Manipulator”, Mechatronics, vol. 1, no. 1, pp. 1-6, Mar. 2009.
[11] P. R. Roan, A. Burmeister, A. Rahimi, et al, “Real-world validation of three tipover algorithms for mobile robots ”, Robotics and Automation, vol. 5, no. 1, pp. 4431-4436, Aug. 2010.
[12] T. González, A. Bravo, “Controlador Difuso para el Cambio del Centro de Gravedad en Manipuladores Móviles”, IEEE América Latina, vol. 12, no. 6, pp. 991-996, Sept. 2014.
[2] Q. Huang, S. Sugano, I. Kato, “Stability control for a mobile manipulator using a potential method”, Intelligent Robots and Systems, vol. 2, no. 1, pp. 839-846, Apr. 1994.
[3] D. A. Rey, E. G. Papadoupoulos, “A new measure of tipover stability margin for Mobile manipulators”, Robotics and Automation, vol. 4, no. 1, pp. 3111-3116, May. 1996.
[4] A. Torige, T. Ihara, “Control of manipulator with gravity center position control on Mobile vehicle”, Advanced Robotics, vol. 1, no. 1, pp. 367-372, Jun. 1997.
[5] D. A. Rey, E. G. Papadoupoulos, “Online automatic tipover prevention for mobile manipulators”, Intelligent Robots and Systems, vol. 3, no. 1, pp. 1273-1278, Dec. 1997.
[6] A. Díaz-Calderon, A. Kelly, “On the dynamic stability of mobile manipulators”, PhD Thesis, the Robotics Institute, Carnegie Mellon University. Pittsburgh, PA, USA, 2000.
[7] S. Nakamura, M. Faragalli, N. Mizukami, et al., “Wheeled robot with movable center of mass for traversing over rough terrain”, Intelligent Robots and Systems, vol. 2, no. 1, pp. 1228-1233, Jan. 2007.
[8] L. Yugang, L. Guangjun, “Kinematics and interaction analysis for tracked mobile manipulators”, Intelligent Robots and Systems, vol. 1, no. 1, pp. 267-272, Jan. 2007.
[9] Z. Mingchao, L. Yuanchung, “Decentralized adaptive fuzzy control for reconfigurable manipulators”, Robotics, Automation and Mechatronics, vol. 1, no. 1, pp. 404-409, Feb. 2008.
[10] J. Morales, J. Martínez, A. Mandow, et al, “Center of gravity estimation and control for a field mobile robot with a Heavy Manipulator”, Mechatronics, vol. 1, no. 1, pp. 1-6, Mar. 2009.
[11] P. R. Roan, A. Burmeister, A. Rahimi, et al, “Real-world validation of three tipover algorithms for mobile robots ”, Robotics and Automation, vol. 5, no. 1, pp. 4431-4436, Aug. 2010.
[12] T. González, A. Bravo, “Controlador Difuso para el Cambio del Centro de Gravedad en Manipuladores Móviles”, IEEE América Latina, vol. 12, no. 6, pp. 991-996, Sept. 2014.
Published
2016-04-04
How to Cite
González-Fernández, T., & Bravo-Valero, A. (2016). Minimal distance vector. A new approach to avoid tip-over on mobile manipulators. ITECKNE, 13(1), 7-16. https://doi.org/https://doi.org/10.15332/iteckne.v13i1.1377
Issue
Section
Research and Innovation Articles