Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion | Zendy

Xianhua Li | Zendy; Liang Wu | Zendy; Qing Sun | Zendy; Tao Song | Zendy

Open Access

Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion

Author(s) -

Xianhua Li,

Liang Wu,

Qing Sun,

Tao Song

Publication year - 2021

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2021/9913335

Subject(s) - computer science , mobile robot , moment (physics) , correctness , workspace , dual (grammatical number) , stability (learning theory) , robot , robotic arm , simulation , control theory (sociology) , artificial intelligence , algorithm , physics , literature , art , control (management) , classical mechanics , machine learning

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.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research