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Stability of mobile manipulators

: Rupp, K.-D.; Wanner, M.-C.

Japan Industrial Robot Association -JIRA-, Tokyo:
9th International Symposium on Automation and Robotics in Construction. ISARC '92. Vol.II. Proceedings
Tokyo, 1992
International Symposium on Automation and Robotics in Construction (ISARC) <9, 1992, Tokyo>
Fraunhofer IPA ()
Baumaschine; construction industry; manipulator; mobile manipulator; mobile robot

Mobile manipulators with very large reaches and high payloads like telescopic cranes or concrete booms are important machines for the construction industry. Those systems have to be very safe. One important item is to ensure stability under any condition. This paper describes an approach to control the stability considering ground conditions. The mathematical solution as well as the sensor requirements is described.