Dube, C2011-12-142011-12-142011-11Dube,C. 2011. Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. 4th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011http://hdl.handle.net/10204/54194th Robotics and Mechatronics Conference of South Africa (RobMech 2011), CSIR International Conference Centre, Pretoria, 23-25 November 2011Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator or the gradient of the slope being traversed by the platform. This paper presents the model of a tracked mobile manipulator for tipover stability analysis in stope mining environments. The Force Angle stability measure is used to compute the stability index of the platform. An environment is simulated using a gradient vector field and a simulated iRobot PackBot platform is modeled moving through the environment. The PackBot manipulator motion is modeled using the forward kinematics of serial structured manipulators. Action of the flippers has the effect of changing the tip over axis and stability index of the platform. The geometry of the platform is used to compute the resultant tip over axis given the angle of the flippers. The overall stability based on the slope of the environment, the manipulator pose and the flipper angle is then computed. The results give new insight into tip over prevention for tracked mobile manipulators.enMobile manipulatorsMining roboticsBomb disposalsTracked mobile manipulatorTip-over stability mobile manipulatorRoboticsMechatronicsRobMech 2011ArticleDube, C. (2011). Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. http://hdl.handle.net/10204/5419Dube, C "Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator." (2011) http://hdl.handle.net/10204/5419Dube C. Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator. 2011; http://hdl.handle.net/10204/5419.TY - Article AU - Dube, C AB - Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator or the gradient of the slope being traversed by the platform. This paper presents the model of a tracked mobile manipulator for tipover stability analysis in stope mining environments. The Force Angle stability measure is used to compute the stability index of the platform. An environment is simulated using a gradient vector field and a simulated iRobot PackBot platform is modeled moving through the environment. The PackBot manipulator motion is modeled using the forward kinematics of serial structured manipulators. Action of the flippers has the effect of changing the tip over axis and stability index of the platform. The geometry of the platform is used to compute the resultant tip over axis given the angle of the flippers. The overall stability based on the slope of the environment, the manipulator pose and the flipper angle is then computed. The results give new insight into tip over prevention for tracked mobile manipulators. DA - 2011-11 DB - ResearchSpace DP - CSIR KW - Mobile manipulators KW - Mining robotics KW - Bomb disposals KW - Tracked mobile manipulator KW - Tip-over stability mobile manipulator KW - Robotics KW - Mechatronics KW - RobMech 2011 LK - https://researchspace.csir.co.za PY - 2011 T1 - Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator TI - Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator UR - http://hdl.handle.net/10204/5419 ER -