Design and implementation of an intelligent monitoring system for real-time tip-over assessment of mobile manipulator

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ID: 286014
2023
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Abstract
Mobile manipulators are commonly used for explosive ordnance disposal (EOD) missions. The typical operation of an EOD robot includes traversing inclines as well as a variety of rough terrains while carrying heavy payloads which may cause postural instabilities or tip-over. Mobile manipulator tip-over, especially while carrying payload, creates a dangerous situation for the surrounding environment resulting in an aborted mission. This study aims to create a real-time tip-over monitoring system that can be applied to avoid a mobile manipulator tip-over. Using a Computer Aided Design (CAD) model of the robot and parameters such as center of gravity and orientation, a measure for robot instability and a tip-over algorithm can be derived and evaluated to perform the necessary actions such as adjusting robot arm positions or changing velocity of the robot to prevent tip-over.
Reference Key
persistent_1760657319_68f17fa716563 Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Lupoy, Mark Lawrence D.
Journal Malay Journal
Year 2023
DOI
DOI not found
URL
https://animorepository.dlsu.edu.ph/etdm_ece/24
Keywords Keywords not found

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