Design and implementation of an intelligent monitoring system for real-time tip-over assessment of mobile manipulator
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-ove...
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| Main Author: | |
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| Format: | text |
| Language: | English |
| Published: |
Animo Repository
2023
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| Subjects: | |
| Online Access: | https://animorepository.dlsu.edu.ph/etdm_ece/24 |
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| Institution: | De La Salle University |
| Language: | English |
| Summary: | 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. |
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