Stability analysis of a mobile robot base carrying a robotic manipulator
A robotic manipulator mounted on a mobile robot base is useful for performing tasks in an environment not suitable for humans. However, the capabilities of such a robot may be limited by its physical stability. A mobile robot by itself is designed to have a high degree of stability, with a center of gravity located low to the ground and well within the area enclosed by its wheels. When a manipulator is mounted on a mobile robot, the overall center of gravity is raised and may also be shifted outside of the area of stability, which would cause the robot to tip. Three factors that may influence the physical stability of such a configuration are the position of the manipulator links, the load at the tool position, and the inclide on which the robot is supported. A stability analysis provides numerical information concerning the effect that each of these three factors has on the stability of the robot`s vehicle-manipulator system.
- OSTI ID:
- 76130
- Report Number(s):
- CONF-940602--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 70; ISSN 0003-018X; ISSN TANSAO
- Country of Publication:
- United States
- Language:
- English
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