{"title":"全向移动机器人的侧翻稳定性","authors":"G. Nikhade, S. Chiddarwar, V. Deshpande","doi":"10.1109/CCINTELS.2015.7437928","DOIUrl":null,"url":null,"abstract":"Dynamic stability of the mobile robot is a main concern for the safety of the system and the operator during the task. Due to the sudden dynamic changes during the operation, the system may tip-over or roll-over. This may cause unexpected injuries and damage to the system. This paper presents the dynamic coupled model of a manipulator and omni-directional platform equipped with mecanum wheels and its effect on the stability of the system. The dynamic model of the omni-directional mobile robot (Omni-WMR)has been developed to determine the torque developed at each link of the manipulator which causes a resultant force on each wheel of the platform responsible for the instability (tip-over) of the system. Finally, to avoid the tip-over of the system, the dimensions of the mobile platform are determined by Zero Moment Point (ZMP) approach.","PeriodicalId":131816,"journal":{"name":"2015 Communication, Control and Intelligent Systems (CCIS)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Tip-over stability of omni-directional mobile robot\",\"authors\":\"G. Nikhade, S. Chiddarwar, V. Deshpande\",\"doi\":\"10.1109/CCINTELS.2015.7437928\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Dynamic stability of the mobile robot is a main concern for the safety of the system and the operator during the task. Due to the sudden dynamic changes during the operation, the system may tip-over or roll-over. This may cause unexpected injuries and damage to the system. This paper presents the dynamic coupled model of a manipulator and omni-directional platform equipped with mecanum wheels and its effect on the stability of the system. The dynamic model of the omni-directional mobile robot (Omni-WMR)has been developed to determine the torque developed at each link of the manipulator which causes a resultant force on each wheel of the platform responsible for the instability (tip-over) of the system. Finally, to avoid the tip-over of the system, the dimensions of the mobile platform are determined by Zero Moment Point (ZMP) approach.\",\"PeriodicalId\":131816,\"journal\":{\"name\":\"2015 Communication, Control and Intelligent Systems (CCIS)\",\"volume\":\"95 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 Communication, Control and Intelligent Systems (CCIS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCINTELS.2015.7437928\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 Communication, Control and Intelligent Systems (CCIS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCINTELS.2015.7437928","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
摘要
移动机器人在执行任务时的动态稳定性关系到系统和操作者的安全。在运行过程中，由于突然的动态变化，系统可能会翻倒或翻滚。这可能会对系统造成意想不到的伤害和损坏。本文研究了带机械轮的机械手与全向平台的动力学耦合模型及其对系统稳定性的影响。建立了全方位移动机器人(Omni-WMR)的动力学模型，确定了机械手各环节产生的力矩，该力矩在平台各轮上产生合力，导致系统不稳定(翻倒)。最后，采用零力矩点(Zero Moment Point, ZMP)法确定移动平台的尺寸，避免了系统的倾覆。
Tip-over stability of omni-directional mobile robot
Dynamic stability of the mobile robot is a main concern for the safety of the system and the operator during the task. Due to the sudden dynamic changes during the operation, the system may tip-over or roll-over. This may cause unexpected injuries and damage to the system. This paper presents the dynamic coupled model of a manipulator and omni-directional platform equipped with mecanum wheels and its effect on the stability of the system. The dynamic model of the omni-directional mobile robot (Omni-WMR)has been developed to determine the torque developed at each link of the manipulator which causes a resultant force on each wheel of the platform responsible for the instability (tip-over) of the system. Finally, to avoid the tip-over of the system, the dimensions of the mobile platform are determined by Zero Moment Point (ZMP) approach.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
