Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion
Tip-over stability analysis is critical for the success of mobile manipulation of the dual arm, especially in the cases that the dual arm or the mobile platform moves rapidly. Due to strong dynamics coupling between the dual arm and mobile platform, online evaluation of dynamic stability of the mobi...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/9913335 |
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| _version_ | 1832560686804238336 |
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| author | Xianhua Li Liang Wu Qing Sun Tao Song |
| author_facet | Xianhua Li Liang Wu Qing Sun Tao Song |
| author_sort | Xianhua Li |
| collection | DOAJ |
| description | Tip-over stability analysis is critical for the success of mobile manipulation of the dual arm, especially in the cases that the dual arm or the mobile platform moves rapidly. Due to strong dynamics coupling between the dual arm and mobile platform, online evaluation of dynamic stability of the mobile dual-arm robot still remains challenging. This paper presents an improved tip-over moment stability criterion dealing with the dual arm and mobile platform interaction and proposes an algorithm for calculating the tip-over stability margin of the arm end in the workspace to analyze the dynamic stability of the wheeled mobile dual-arm robot. The simulations on a four-wheeled mobile dual-arm robot validate the correctness and feasibility of the proposed method. |
| format | Article |
| id | doaj-art-a521a4ff49aa4b13b02f45c602681897 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-a521a4ff49aa4b13b02f45c6026818972025-02-03T01:26:59ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/99133359913335Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability CriterionXianhua Li0Liang Wu1Qing Sun2Tao Song3School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, ChinaSchool of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, ChinaSchool of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, ChinaSchool of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, ChinaTip-over stability analysis is critical for the success of mobile manipulation of the dual arm, especially in the cases that the dual arm or the mobile platform moves rapidly. Due to strong dynamics coupling between the dual arm and mobile platform, online evaluation of dynamic stability of the mobile dual-arm robot still remains challenging. This paper presents an improved tip-over moment stability criterion dealing with the dual arm and mobile platform interaction and proposes an algorithm for calculating the tip-over stability margin of the arm end in the workspace to analyze the dynamic stability of the wheeled mobile dual-arm robot. The simulations on a four-wheeled mobile dual-arm robot validate the correctness and feasibility of the proposed method.http://dx.doi.org/10.1155/2021/9913335 |
| spellingShingle | Xianhua Li Liang Wu Qing Sun Tao Song Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion Journal of Robotics |
| title | Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion |
| title_full | Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion |
| title_fullStr | Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion |
| title_full_unstemmed | Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion |
| title_short | Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion |
| title_sort | online dynamic tip over analysis for a wheeled mobile dual arm robot with an improved tip over moment stability criterion |
| url | http://dx.doi.org/10.1155/2021/9913335 |
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