Small unmanned ground vehicles risk rollover at high speeds. This paper proposes use of a manipulator arm on the robot in a dynamic weight-shifting arrangement to reduce rollover risk. A simple linear control law for dynamic weight-shifting of the manipulator arm is proposed. A linear dynamic model is used to analyze the effect of the arm design (link length, mass, etc.) on the roll dynamics, and a more complex nonlinear simulation in Simulink SimMechanics is used to evaluate roll reduction for various steering angles and velocities. Simulations given the same steering input with dynamic weight-shifting showed a roll reduction factor of 12%. For the same radius turn, a roll reduction factor of 29% was observed. A 50% reduction in steering angle was used to achieve a similar turning radius with dynamic weight-shifting activated. By increasing rollover stability, dynamic weight-shifting has the potential to increase safe operating speeds for mobile robots.
- Dynamic Systems and Control Division
Dynamic Weight-Shifting to Reduce Rollover Risk in High Speed Mobile Manipulators
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Storms, JG, & Tilbury, DM. "Dynamic Weight-Shifting to Reduce Rollover Risk in High Speed Mobile Manipulators." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. San Antonio, Texas, USA. October 22–24, 2014. V003T48A006. ASME. https://doi.org/10.1115/DSCC2014-6302
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