Practical Implementation of the Normalized Dynamic Energy Stability Margin for Wheeled Robots

Gyung Hwan Yuk; Woong Hee Cho; Hyun Seok Yang

doi:10.1007/s12541-012-0007-5

Practical Implementation of the Normalized Dynamic Energy Stability Margin for Wheeled Robots

Gyung Hwan Yuk, Woong Hee Cho, Hyun Seok Yang

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

This paper introduces a practical implementation of the normalized dynamic energy stability margin (NDESM) which is simplified for wheeled mobile robots. Several types of sensors are generally required to measure the stability margin of a robot. This makes the practical implementation of a stability measurement system complicated. The simplified stability margin can be measured with only a few sensors, and it describes both static and dynamic effects on stability. The performance of the simplified stability margin is demonstrated through dynamic simulations. The experimental results and an implementation of the stability margin measurement system on a real robot are also presented.

Original language	English
Pages (from-to)	49-56
Number of pages	8
Journal	International Journal of Precision Engineering and Manufacturing
Volume	13
Issue number	1
DOIs	https://doi.org/10.1007/s12541-012-0007-5
Publication status	Published - 2012 Jan

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1007/s12541-012-0007-5

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abstract = "This paper introduces a practical implementation of the normalized dynamic energy stability margin (NDESM) which is simplified for wheeled mobile robots. Several types of sensors are generally required to measure the stability margin of a robot. This makes the practical implementation of a stability measurement system complicated. The simplified stability margin can be measured with only a few sensors, and it describes both static and dynamic effects on stability. The performance of the simplified stability margin is demonstrated through dynamic simulations. The experimental results and an implementation of the stability margin measurement system on a real robot are also presented.",

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AB - This paper introduces a practical implementation of the normalized dynamic energy stability margin (NDESM) which is simplified for wheeled mobile robots. Several types of sensors are generally required to measure the stability margin of a robot. This makes the practical implementation of a stability measurement system complicated. The simplified stability margin can be measured with only a few sensors, and it describes both static and dynamic effects on stability. The performance of the simplified stability margin is demonstrated through dynamic simulations. The experimental results and an implementation of the stability margin measurement system on a real robot are also presented.

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Practical Implementation of the Normalized Dynamic Energy Stability Margin for Wheeled Robots

Abstract

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