Development of a Numerical Evaluation Method for Tip-over Stability of Mobile Manipulator Considering Tip-over Angle

被引：0

作者：

Lee, Chang Joo ^{[1
]}

Lee, Jin Won ^{[2
]}

Rhim, Sungsoo ^{[1
]}

机构：

[1] Kyung Hee Univ, Dept Mech Engn, Yongin, South Korea

[2] Korea Inst Robot Ind Adv, Adv Robot Verificat Res Team, Dept Robot DX, Daegu, South Korea

来源：

2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR | 2023年

关键词：

MOTION;

D O I：

10.1109/UR57808.2023.10202386

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A mobile manipulator is a type of robot that combines a mobile platform with a manipulator. Mobile manipulators have two significant features: mobility and manipulation capabilities. However, maintaining stability and balance in the environment to prevent tip-over is a major challenge when using mobile manipulators, particularly when the mobile platform and the manipulator move at the same time. To assess tip-over stability more accurately, Tip-over Moment (TOM) method must be improved by accounting for the duration of the TOM and its effect on the angular tilt of the robot. In this paper, we propose the Tip-over Angle method to calculate the angular tilt and assess the possibility of full tip-over. ROS-Gazebo simulation on sudden stop motion is used to validate the method.

引用

页码：154 / 159

页数：6

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