RT Journal Article
T1 Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators
A1 Morales-Rodríguez, Jesús
A1 Martínez-Rodríguez, Jorge Luis
A1 Mandow, Anthony
A1 Serón-Barba, Javier
A1 García-Cerezo, Alfonso José
K1 Autómatas - Sistemas de control
AB This 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. These ASPs 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 its ASP, 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.
PB IEEE
YR 2013
FD 2013-04-02
LK https://hdl.handle.net/10630/34025
UL https://hdl.handle.net/10630/34025
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
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026