The force-angle measure of tipover stability margin for mobile manipulators

Papadopoulos, E; Rey, DA

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Rey, DA	en
dc.date.accessioned	2014-03-01T01:15:55Z
dc.date.available	2014-03-01T01:15:55Z
dc.date.issued	2000	en
dc.identifier.issn	0042-3114	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13824
dc.subject	Mobile Manipulator	en
dc.subject	Center of Mass	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	SIMULATION	en
dc.subject.other	FRICTION	en
dc.title	The force-angle measure of tipover stability margin for mobile manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1076/0042-3114(200001)33:1;1-5;FT029	en
heal.identifier.secondary	http://dx.doi.org/10.1076/0042-3114(200001)33:1;1-5;FT029	en
heal.language	English	en
heal.publicationDate	2000	en
heal.abstract	Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle. stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.	en
heal.publisher	SWETS ZEITLINGER PUBLISHERS	en
heal.journalName	VEHICLE SYSTEM DYNAMICS	en
dc.identifier.doi	10.1076/0042-3114(200001)33:1;1-5;FT029	en
dc.identifier.isi	ISI:000085492500002	en
dc.identifier.volume	33	en
dc.identifier.issue	1	en
dc.identifier.spage	29	en
dc.identifier.epage	48	en