RT Journal Article
T1 Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.
A1 Morales-Rodríguez, Jesús
A1 Martínez-Rodríguez, Jorge Luis
A1 Mandow, Anthony
A1 Serón-Barba, Javier
A1 García-Cerezo, Alfonso José
K1 Sistemas inteligentes de transporte
AB This paper analyzes the effect of towing a single-axletrailer 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 correspondingground contact supporting polygons. In this way, it is possible toestimate tip-over stability for each unit separately by projecting itscenter of gravity onto itsASP, even in the case that both bodies havedifferent inclinations.Online implementation issues and simulationresults are discussed. Moreover, a case study is presented for theAlacrane mobile manipulator, which carries a trailer for powergeneration.
PB IEEE
YR 2013
FD 2013
LK https://hdl.handle.net/10630/34259
UL https://hdl.handle.net/10630/34259
LA eng
NO J. 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.
NO https://v2.sherpa.ac.uk/id/publication/3489
NO This work was supported in part by the Spanish Project DPI2008-00553.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026