Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator or the gradient of the slope being traversed by the platform. This paper presents the model of a tracked mobile manipulator for tipover stability analysis in stope mining environments. The Force Angle stability measure is used to compute the stability index of the platform. An environment is simulated using a gradient vector field and a simulated iRobot PackBot platform is modeled moving through the environment. The PackBot manipulator motion is modeled using the forward kinematics of serial structured manipulators. Action of the flippers has the effect of changing the tip over axis and stability index of the platform. The geometry of the platform is used to compute the resultant tip over axis given the angle of the flippers. The overall stability based on the slope of the environment, the manipulator pose and the flipper angle is then computed. The results give new insight into tip over prevention for tracked mobile manipulators.
Reference:
Dube,C. 2011. Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011
Dube, C. (2011). Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. http://hdl.handle.net/10204/5419
Dube, C "Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator." (2011) http://hdl.handle.net/10204/5419
Dube C. Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. 2011; http://hdl.handle.net/10204/5419.
Author:Smith, Andrew C; Laine, THDate:May 2011A combination of modern technology and hand-crafted items is used as a learning tool for children. Instructions from a server are relayed via a cellular phone network to the user. The user places hand-crafted objects on a transparent surface ...Read more
Author:Modungwa, D; Bolele, K; Tlale, NS; Kumile, CM; Shaik, ADate:Dec 2008In this paper, the requirements for a mechanical manipulator for achieving reconditioning of mould and die tools are determined. Reconditioning of mould and die tools involves the following manufacturing processes; identification of defects, ...Read more
Author:Singh, GK; Claassens, JDate:Oct 2010This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector ...Read more