System centroid position based tipover stability enhancement method for a tracked search and rescue robot
System centroid position based tipover stability enhancement method for a tracked search and rescue robot
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DOI：
10.1080/01691864.2014.976654
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发表时间：
2014-12
影响因子：
2
通讯作者：
Huatao Zhang;Aiguo Song
中科院分区：
文献类型：
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作者：
Huatao Zhang;Aiguo Song
在越障或爬楼梯过程中，翻倒可能会对移动机器人系统造成致命的损害，而系统质心位置（SCP）对于翻倒稳定性非常重要。通过监控 SCP，可以估计翻倒的风险并采取适当的措施来防止事件发生。本文提出了一种新的防翻倒方法，通过在线调整 SCP 来增强履带式移动机械臂的翻倒稳定性。基于三轴陀螺仪的方向数据和 SCP 计算讨论了机器人的翻倒稳定性标准。本文还提出了用于 SCP 调节的机械臂的速度运动学模型。此外，采用冗余解析方法来提高机器人的性能。将该方法应用于由四自由度机械臂和履带式移动底座组成的搜救机器人上，实验结果证明了该方法的有效性。图解摘要
Tipover may cause fatal damages to the mobile robot system during obstacle crossing or stair climbing, and the system centroid position (SCP) is very important for the tipover stability. By monitoring the SCP, it is possible to estimate the risk of tipover and take appropriate actions to prevent the incident from happening. This paper proposes a new tipover avoidance method for enhancing the tipover stability of a tracked mobile manipulator by online adjusting the SCP. The tipover stability criteria for the robot are discussed based on the orientation data from a three-axial gyroscope and the SCP calculation. The velocity kinematic model of the manipulator for SCP adjustment is also presented in this paper. In addition, a redundancy resolution method is employed in order to improve the performance of the robot. The proposed method is applied to a search and rescue robot consists of a four degree of freedom manipulator and a tracked mobile base, and the effectiveness of this method is demonstrated by experimental results. Graphical Abstract