Title :
A measure of machine stability for moving base manipulators
Author :
Ghasempoor, A. ; Sepehri, N.
Author_Institution :
Dept. of Mech. & Ind. Eng., Manitoba Univ., Winnipeg, Man., Canada
Abstract :
This paper presents a scheme to monitor the potential of tipping over for moving base manipulators. The method of energy stability developed by Messuri and Klein (1985) is extended here to quantitatively include the effect of all factors relevant to the stability of moving base manipulators. These factors include vehicle top-heaviness, rugged terrain conditions, inertial and external reactions arising from the manipulation of the implement. The application of this study is directed at teleoperated heavy-duty hydraulic machines that are used in forestry and construction industries. Simulation studies show that the inertial loadings are important in determining the stability of such machines and thus should not be overlooked
Keywords :
construction industry; forestry; industrial manipulators; manipulators; mechanical stability; stability; telerobotics; construction industries; energy stability; forestry; heavy-duty hydraulic machines; machine stability; moving base manipulators; rugged terrain conditions; teleoperation; Construction industry; Foot; Gravity; Industrial engineering; Legged locomotion; Manipulators; Manufacturing industries; Robotics and automation; Stability; Vehicles;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525596
