| contributor author | Guo, Shuai | |
| contributor author | Song, Tao | |
| contributor author | (Jeff) Xi, Fengfeng | |
| contributor author | Mohamed, Richard Phillip | |
| date accessioned | 2017-11-25T07:20:45Z | |
| date available | 2017-11-25T07:20:45Z | |
| date copyright | 2017/10/3 | |
| date issued | 2017 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_139_05_054501.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4236638 | |
| description abstract | A method is presented for tip-over stability analysis of a wheeled mobile manipulator. A wheeled mobile manipulator may tip over resulting from its operation. In this study, first a Newton–Euler formulation is applied to formulate the manipulator’s reaction forces and moments exerted onto the mobile platform. Tip-over criterion is derived to judge the system stability. Three load and motion analyses are carried on. The first static load deals with links and payload to show the effect of the horizontal position of the system’s center of gravity (CG). The second and third are the inertial forces resulting from joint speeds and accelerations, respectively. Case study is path planning with tip-over criterion result which can make the system stable along the path. The simulation results demonstrate the effectiveness of the proposed method. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Tip-Over Stability Analysis for a Wheeled Mobile Manipulator | |
| type | Journal Paper | |
| journal volume | 139 | |
| journal issue | 5 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4035234 | |
| journal fristpage | 54501 | |
| journal lastpage | 054501-7 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2017:;volume( 139 ):;issue: 005 | |
| contenttype | Fulltext | |
