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

Journal of robotics

article

Xianhua Li¹  Liang Wu¹  Qing Sun²  Tao Song² 

[1] School of Mechanical Engineering, Anhui University of Science and Technology;School of Mechatronics Engineering and Automation, Shanghai University;Shanghai Robot Industry Technology Research Institute Co., Ltd.

DOI  :  10.1155/2021/9913335

学科分类：社会科学、人文和艺术（综合）

来源: Hindawi Publishing Corporation

【 摘 要 】

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.

【 授权许可】

CC BY