Title :
Study of Dynamic Transient Stability of a 2-Link Wheeled-Suspended Mobile Flexible Manipulator
Author :
Yuwei, Yang ; Xinhua, Zhao ; Minglu, Zhang ; Guangzhu, Meng ; Shoujun, Wang
Author_Institution :
Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin Univ. of Technol., Tianjin, China
Abstract :
This work studies the dynamic transient stability of a 2-link wheeled-suspended mobile flexible manipulator. The dynamic transient stability criterion is constructed based on the reacting forces and skidding resistance forces existing between the tires and the road surface. At last, Computation simulation results are presented to illustrate the study. This criterion is feasible to evaluate the transient dynamic stability and perform mutil-goal optimization of a mobile flexible manipulator with respect to a specified performance.
Keywords :
flexible manipulators; manipulator dynamics; mobile robots; optimisation; stability; 2-link wheeled-suspended mobile flexible manipulator; dynamic transient stability; multigoal optimization; reacting forces; skidding resistance forces; Manipulator dynamics; Mobile communication; Stability criteria; Thermal stability; Dynamic Transient Stability; Flexible Manipulator; Wheeled-Suspended;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.670
