Abstract
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.
Highlights
Moubarak and Ben-Tzvi [19] proposed a global optimal attitude convergence algorithm for redundant serial robots, which can prevent tipping without considering the influence of joint velocity and acceleration on tipping stability
An improved tip-over moment stability criterion is proposed dealing with dual-arm and mobile platform interaction
An algorithm for calculating the tip-over stability margin of manipulator workspace is presented to analyze the dynamic stability of WMDAR. is paper proposes a method to study the stability of WMDAR, and this algorithm is very important for the follow-up research. e dynamic stability of the robot can be studied by integrating the algorithm into the control elements, which lays a foundation for the trajectory planning of the robot to tip-over avoidance
Summary
(2) All wheels are always in point contact with the ground, i.e., no slippage of the wheels occurs (3) e dual arm and body are rigidly connected with the platform, and the links and joints of the manipulator are rigid (4) e mobile platform and the body were taken as a whole because the influence of the robot’s body motion is not considered in this paper. E force/moment of the arm end to joint 1 can be obtained through the iterative relationship between the links based on the Newton Euler method and screw theory. E force balance equation of ith link can be obtained, as shown in the following equation: wi wJi − wJi+1 + wGi + wEi IiV_ + Vi × ∗IiV, (7). E force/moment balance equation of joint i can be obtained by combining the Newton Euler method and screw theory, as shown in the following equation: wJi wJi+1 − wGi − wEi + IiV_ + Vi×∗IiV. Equation (8) provides a reverse iterative method to calculate the joint constraint force/moment, which can be calculated from the end effector to the last joint n of the arm until joint 1. e constraint force/moment on joint 1 and the force/moment of the arm acting on the body and mobile platform are reciprocal from Figure 3
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
