A new measure of tipover stability margin for mobile manipulators

• DOI: 10.1109/robot.1996.509185
• Publication Date: 2002-12-23T23:08:12Z
• Authors: E.G. Papadopoulos; D.A. Rey
• Keywords: Margin (machine learning); Operator (biology)

Mobile manipulators operating in field environments will be required to perform tasks on uneven terrain which may cause the system approach, or achieve, a dangerous tipover instability. To avoid an automatic system, provide human operator with indication of proximity tipover, it is necessary define measure stability margin. This work presents new (the force-angle measure) easily computed and sensitive topheaviness. The proposed metric applicable systems subject inertial external forces, over even terrains. Performance demonstrated using forestry vehicle simulation.