Mobile robot stability for complex tasks in naval industries

Abstract

Naval industries are looking for new ways to perform complex tasks on large and stationary parts. In this context, mobile manipulator which consists of a robot manipulator mounted on a wheeled base (Automated Guided Vehicle) is a promising solution. In order to guaranty the quality and free the workers to make dangerous or repetitive tasks, the manufacturing process is redefined where the worker supervises and collaborates with the robotic system. In this paper, the stability of such a robotic system is studied in a dynamic way for a better understanding of the stability of robotic system in order it to be a safe solution. Various representations are given to understand the influence of joint speed and joint acceleration. Finally, as a Key Performance Indicator, a map is drawn to represent the effect of the structure height on the tip-over.