Experiments of Stability Evaluation for Mobile Manipulators Using Criteria Based on Reaction and Stabilization Motion

Abstract

This research presents experiments of stability evaluation using criteria based on reaction and stabilization motion for the dynamic motion control of a mobile manipulator. Previous research have not discussed tipover motion dynamically. Then, we proposed the model of the dynamic mobile manipulator which can express a stable state and an unstable transient state during tipping over. In this paper we constructed experiment equipments to classify the validity of the proposed model and confirmed that the real mobile manipulator can return from an unstable state to a stable state by performing a stabilization motion. First, the experiment equipments of the mobile manipulator are constructed. Second, a model of the manipulator including characteristics of the constructed hardware system is formulated. Third, it is clarified that the formulated model can express the motion of the hardware by performing experiments and simulations. Finally, it is shown that the real mobile manipulator can return from an unstable transient state to a stable state by performing a stabilization motion.