Minimal distance vector. A new approach to avoid tip-over on mobile manipulators
AbstractMany 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.
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