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oai:riuma.uma.es:10630/340252026-02-03T11:06:22Zcom_10630_2254col_10630_37953

Morales-Rodríguez, Jesús Martínez-Rodríguez, Jorge Luis Mandow, Anthony Serón-Barba, Javier García-Cerezo, Alfonso José 2024-09-30T11:03:49Z 2024-09-30T11:03:49Z 2013-04-02 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 https://hdl.handle.net/10630/34025 10.1109/TMECH.2011.2181955 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. eng http://creativecommons.org/licenses/by-nc-nd/4.0/ open access Attribution-NonCommercial-NoDerivatives 4.0 Internacional Autómatas - Sistemas de control Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators journal article