Research on mobile manipulator tip-over stability and compensation

Authors:
Yu-Hong Liu;Xian-Chun Meng;Ming-Lu Zhang
Affiliations:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, China;School of Mechanical Engineering, Hebei University of Technology, Tianjin, China;School of Mechanical Engineering, Hebei University of Technology, Tianjin, China
Venue:
ROCOM'08 Proceedings of the 8th WSEAS International Conference on Robotics, Control and Manufacturing Technology
Year:
2008

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Abstract

This paper analyses the reasons for resulting in the instability of mobile manipulator. Several methods of stability analysis and errors compensation are introduced, including the theories, the modeling processes and their characteristics. The significance of analysing the stability and compensating the errors are expounded. In addition, the corresponding applications are also discussed. Finally, the future study direction of mobile manipulator stability analysis and compensation is prospected.