Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.

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dc.centroEscuela de Ingenierías Industrialeses_ES
dc.contributor.authorMorales-Rodríguez, Jesús
dc.contributor.authorMartínez-Rodríguez, Jorge Luis
dc.contributor.authorMandow, Anthony
dc.contributor.authorSerón-Barba, Javier
dc.contributor.authorGarcía-Cerezo, Alfonso José
dc.date.accessioned2024-10-03T09:27:26Z
dc.date.available2024-10-03T09:27:26Z
dc.date.issued2013
dc.departamentoIngeniería de Sistemas y Automática
dc.descriptionhttps://v2.sherpa.ac.uk/id/publication/3489es_ES
dc.description.abstractThis paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and trailer. TheseASPs are based on a force– torque static equilibrium analysis that reshapes the corresponding ground contact supporting polygons. In this way, it is possible to estimate tip-over stability for each unit separately by projecting its center of gravity onto itsASP, even in the case that both bodies have different inclinations.Online implementation issues and simulation results are discussed. Moreover, a case study is presented for the Alacrane mobile manipulator, which carries a trailer for power generation.es_ES
dc.description.sponsorshipThis work was supported in part by the Spanish Project DPI2008-00553.es_ES
dc.identifier.citationJ. Morales, J. L. Martinez, A. Mandow, J. Seron and A. J. Garcia-Cerezo, "Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons," in IEEE/ASME Transactions on Mechatronics, vol. 18, no. 2, pp. 697-705, April 2013, doi: 10.1109/TMECH.2011.2181955.es_ES
dc.identifier.doi10.1109/TMECH.2011.2181955
dc.identifier.urihttps://hdl.handle.net/10630/34259
dc.language.isoenges_ES
dc.publisherIEEEes_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.accessRightsopen accesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectSistemas inteligentes de transportees_ES
dc.subject.otherMobile robotses_ES
dc.subject.otherSlope negotiationes_ES
dc.subject.otherTractor-traileres_ES
dc.subject.otherVehicleses_ES
dc.subject.otherRobot controles_ES
dc.subject.otherTip-over avoidancees_ES
dc.subject.otherStabilityes_ES
dc.titleStatic Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.es_ES
dc.typejournal articlees_ES
dc.type.hasVersionAMes_ES
dspace.entity.typePublication
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relation.isAuthorOfPublication.latestForDiscovery14fa0e60-c422-48ee-8093-600fb95e788c

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