Dynamic modeling of tip-over stability of mobile manipulators considering the friction effects

Robotica

Volumn 23, Issue 2, 2005, Pages 189-196

  Abo Shanab, R F ^a   Sepehri, N ^a  

^a UNIVERSITY OF MANITOBA   (Canada)

Author keywords

Dynamic model; LuGre friction model; Mobile manipulators; Tip over stability; Virtual links

Indexed keywords

COMPUTER CONTROL; COMPUTER SIMULATION; DAMPING; DEGREES OF FREEDOM (MECHANICS); FRICTION; KINEMATICS; MATHEMATICAL MODELS; ROBOTICS; SYSTEM STABILITY; THREE DIMENSIONAL; VIRTUAL REALITY;

DYNAMIC MODELS; LUGRE FRICTION MODEL; MOBILE MANIPULATORS; TIP-OVER STABILITY; VIRTUAL LINKS;

MANIPULATORS;

EID: 17044437364     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574704000645     Document Type: Article

References (11)

1. R. F. Abo-Shanab and N. Sepehri, "On Dynamic Stability of Manipulators Mounted on Mobile Platforms," Robotica 19, Part 4, 439-449 (2001).
2. R. F. Abo-Shanab and N. Sepehri, "The Effect of Base Compliance on the Dynamic Stability of Mobile Manipulators," Robotica 20, Part 1, 607-613 (2002).
3. C. Canudas de Wit and P. Tsiotras, "Dynamic Tire Friction Models for Vehicle Traction Control," Proceedings 38th Conference on Decision and Control, Phoenix, AZ (1999) pp. 3746-3751.
4. P. R. Dahl, "Solid Friction Damping of Mechanical Vibrations," AIAA Journal 14, 1675-1682 (1976).
5. X. Claeys, J. Yi, R. Horowitz, L. Alvarez and C. Canudas de Wit, "A Dynamic Tire/Road Friction Model for 3D Vehicle Control and Simulation," Proceedings of the IEEE Intelligent Transportation Systems Conference, Oakland, CA (2001) pp. 483-488.
6. R. F. Abo-Shanab, N. Sepehri and Q. Wu, "On Dynamic Modeling of Robot Manipulators: the Method of Virtual Links," Proceedings of ASME Design Engineering Technical Conference, Montreal, Canada (2002) paper DETC2002/ MECH-34225.
7. U. O. Akpan and M. R. Kujath, "Sensitivity of a Mobile Manipulator Response to System Parameters," ASME Journal of Vibration and Acoustics 120, 156-163 (1998).
8. C. Canudas de Wit, H. Olsson, K. Astrom and P. Lischinsky, "A New Model for Control of Systems with Friction," IEEE Transactions on Automatic Control 40, 419-425 (1995).
9. B. Armestrong-Helouvery, P. Dupont and C. Canudas de Wit, "A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction," Automatica 30, 1083-1138 (1994).
10. D. A. Haessig and B. Friedland, "On the Modeling and Simulation of Friction," ASME Journal of Dynamic Systems, Measurement, and Control 113, 354-362 (1991).
11. M. M. Sallam, R. F. Abo-Shanab and A. A. Nasser, "Modified Methods for Dynamic Modeling of Robot Manipulators," Proceedings ASME Design Engineering Technical Conference, Atlanta, GA (1998) Paper DETC98/MECH5860.