Tip-Over Stability Analysis for a Wheeled Mobile Manipulator

2017 ◽  
Vol 139 (5) ◽  
Author(s):  
Shuai Guo ◽  
Tao Song ◽  
Fengfeng (Jeff) Xi ◽  
Richard Phillip Mohamed
Keyword(s):  
Stability Analysis ◽  
Path Planning ◽  
Static Load ◽  
System Stability ◽  
Mobile Manipulator ◽  
Inertial Forces ◽  
Horizontal Position ◽  
Reaction Forces ◽  
Simulation Results

A method is presented for tip-over stability analysis of a wheeled mobile manipulator. A wheeled mobile manipulator may tip over resulting from its operation. In this study, first a Newton–Euler formulation is applied to formulate the manipulator’s reaction forces and moments exerted onto the mobile platform. Tip-over criterion is derived to judge the system stability. Three load and motion analyses are carried on. The first static load deals with links and payload to show the effect of the horizontal position of the system’s center of gravity (CG). The second and third are the inertial forces resulting from joint speeds and accelerations, respectively. Case study is path planning with tip-over criterion result which can make the system stable along the path. The simulation results demonstrate the effectiveness of the proposed method.

scholarly journals Impedance-Based Stability Analysis of Paralleled Grid-Connected Rectifiers: Experimental Case Study in a Data Center

Energies ◽  
2020 ◽  
Vol 13 (8) ◽  
pp. 2109 ◽  
Author(s):  
Henrik Alenius ◽  
Tomi Roinila
Keyword(s):  
Stability Analysis ◽  
Data Center ◽  
Large Scale ◽  
Real Life ◽  
System Stability ◽  
Limited Information ◽  
Impedance Measurements ◽  
Grid Connected Converters ◽  
The Stability

Grid-connected systems often consist of several feedback-controlled power-electronics converters that are connected in parallel. Consequently, a number of stability issues arise due to interactions among multiple converter subsystems. Recent studies have presented impedance-based methods to assess the stability of such large systems. However, only few real-life experiences have been previously presented, and practical implementations of impedance-based analysis are rare for large-scale systems that consist of multiple parallel-connected devices. This work presents a case study in which an unstable high-frequency operation, caused by multiple paralleled grid-connected rectifiers, of a 250 kW data center in southern Finland is reported and studied. In addition, the work presents an experimental approach for characterizing and assessing the system stability by using impedance measurements and an aggregated impedance-based analysis. Recently proposed wideband-identification techniques based on binary injection and Fourier methods are applied to obtain the experimental impedance measurements from the input terminals of a single data center rectifier unit. This work provides a practical approach to design and implement the impedance-based stability analysis for a system consisting of multiple paralleled grid-connected converters. It is shown that the applied methods effectively predict the overall system stability and the resonant modes of the system, even with very limited information on the system. The applied methods are versatile, and can be utilized in various grid-connected applications, for example, in adaptive control, system monitoring, and stability analysis.

Kinematics and Tip-Over Stability Analysis for a Hybrid Serial-Parallel Mobile Manipulator

2011 ◽  
Author(s):  
Jose Antonio Souza-Jimenez ◽  
Victor J. Gonzalez-Villela
Keyword(s):  
Stability Analysis ◽  
Computer Simulations ◽  
Parallel Manipulator ◽  
Center Of Mass ◽  
Stewart Platform ◽  
Mobile Manipulator ◽  
Uneven Terrain ◽  
Stable Motion ◽  
Kinematical Model ◽  
Simulation Results

This paper shows the geometry and the kinematical model for a compounded serial-parallel wheeled mobile manipulator. The parallel manipulator, Stewart Platform, is an interface that helps the whole system to accomplish stable motion when handling heavy objects and to improve mobility over uneven-terrain by repositioning their center of mass. To evaluate the possibility of tip over, a stability analysis is performed; some criteria are established. Computer simulations and experiments are carried out and the influences of different robotic postures on the tip-over stability are analyzed through simulation results.

Path Planning Methodology for Multi-Layer Welding of Intersecting Pipes Considering Collision Avoidance

Robotica ◽  
2020 ◽  
pp. 1-14
Author(s):  
M. Shahabi ◽  
H. Ghariblu ◽  
M. Beschi ◽  
N. Pedrocchi
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Joint Space ◽  
Thick Wall ◽  
Welding Torch ◽  
Intersecting Pipes ◽  
Robot Wrist ◽  
Simulation Results ◽  
Planning Methodology

SUMMARY The V-groove joint of thick wall intersecting pipes must be filled by multi-layer weld. The welding path of intersecting pipes is complicated, and hence multi-layer welds increase the complexity of the problem. This paper proposes a methodology for path planning of multi-layer weld of thick wall intersecting pipes. The methodology is based on measuring the electrode pose located in both side and front views of intersecting pipes. In order to compensate for the path deviation around the pipe circumference, the measured values are used to interpolate the path of each pass between two views. The methodology has been applied in a case study. Simulation results approve that multi-layer weld appropriately fills the V-groove joint space around the pipe circumference. In addition, collision avoidance between welding torch and pipes is considered by introducing a safety ring. While the robot wrist moves inside the safety ring, no collision occurs. Simulation results show the robustness of the proposed path planning method, introduced for collision avoidance.

DESIGN-BUILD: AN EFFECTIVE APPROACH FOR ARCHITECTURE STUDIO EDUCATION

2018 ◽  
Vol 12 (2) ◽  
pp. 146 ◽  
Author(s):  
Nabil Mohareb ◽  
Sara Maassarani
Keyword(s):  
Material Selection ◽  
Environmental Constraints ◽  
Design Project ◽  
Construction Methods ◽  
Physical Scale ◽  
Design Build ◽  
Simulation Results ◽  
Education Process ◽  
Real Target

Current architecture studios are missing an important phase in the education process, which is constructing the students’ conceptual ideas on a real physical scale. The design-build approach enables the students to test their ideas, theories, material selection, construction methods, environmental constraints, simulation results, level of space functionality and other important aspects when used by real target clients in an existing context. This paper aims to highlight the importance of using the design-build method through discussing a design project case study carried out by the Masters of Architecture design programme students at Beirut Arab University, who have built prototype units for refugees on a 1:1 scale.

scholarly journals Path Planning for Autonomous Ships: A Hybrid Approach Based on Improved APF and Modified VO Methods

2021 ◽  
Vol 9 (7) ◽  
pp. 761
Author(s):  
Liang Zhang ◽  
Junmin Mou ◽  
Pengfei Chen ◽  
Mengxia Li
Keyword(s):  
Path Planning ◽  
Local Minimum ◽  
Hybrid Approach ◽  
Artificial Potential Field ◽  
Whole Process ◽  
International Regulations ◽  
Local Path ◽  
Velocity Obstacle ◽  
Global And Local

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified velocity obstacle (VO) method that incorporates the closest point of approach (CPA) model and the International Regulations for Preventing Collisions at Sea (COLREGS), based on the typical VO method, can be used to get the local path. The contribution of this research is two-fold: (1) improvement of the typical APF and VO methods, making up for previous shortcomings, and integrated COLREGS rules and good seamanship, making the paths obtained more in line with navigation practice; (2) the research included global and local path planning, considering both the safety and maneuverability of the ship in the process of avoiding collision, and studied the whole process of avoiding collision in a relatively entirely way. A case study was then conducted to test the proposed approach in different situations. The results indicate that the proposed approach can find both global and local paths to avoid the target ship.

scholarly journals Scalable information-theoretic path planning for a rover-helicopter team in uncertain environments

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142199958
Author(s):  
Larkin Folsom ◽  
Masahiro Ono ◽  
Kyohei Otsu ◽  
Hyoshin Park
Keyword(s):  
Path Planning ◽  
Lower Risk ◽  
Information Gain ◽  
Probability Distributions ◽  
Single Agent ◽  
Uncertain Environments ◽  
Information Theoretic ◽  
Highly Correlated ◽  
Naive Approach

Mission-critical exploration of uncertain environments requires reliable and robust mechanisms for achieving information gain. Typical measures of information gain such as Shannon entropy and KL divergence are unable to distinguish between different bimodal probability distributions or introduce bias toward one mode of a bimodal probability distribution. The use of a standard deviation (SD) metric reduces bias while retaining the ability to distinguish between higher and lower risk distributions. Areas of high SD can be safely explored through observation with an autonomous Mars Helicopter allowing safer and faster path plans for ground-based rovers. First, this study presents a single-agent information-theoretic utility-based path planning method for a highly correlated uncertain environment. Then, an information-theoretic two-stage multiagent rapidly exploring random tree framework is presented, which guides Mars helicopter through regions of high SD to reduce uncertainty for the rover. In a Monte Carlo simulation, we compare our information-theoretic framework with a rover-only approach and a naive approach, in which the helicopter scouts ahead of the rover along its planned path. Finally, the model is demonstrated in a case study on the Jezero region of Mars. Results show that the information-theoretic helicopter improves the travel time for the rover on average when compared with the rover alone or with the helicopter scouting ahead along the rover’s initially planned route.

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