Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons

@article{Morales2013StaticTS,
  title={Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons},
  author={Jes{\'u}s Morales and J. L{\'o}pez Mart{\'i}nez and Anthony Mandow and Javier Ser{\'o}n and A. J. Garcia-Cerezo},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2013},
  volume={18},
  pages={697-705}
}
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… CONTINUE READING
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Pequeño-Boter, “Center of gravity estimation and control for a field mobile robot with a heavy manipulator,

  • J. Morales, J. L. Martı́nez, A. Mandow, J. Serón, A. Garcı́a-Cerezo
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6 Excerpts

Garcı́a-Cerezo, “Steering limitations for a vehicle pulling passive trailers,

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  • IEEE Trans. Control Syst. Technol., vol. 16,
  • 2008
2 Excerpts

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