• 제목/요약/키워드: 정역학 안정성 여유

검색결과 1건 처리시간 0.018초

이동로봇의 횡방향 안정성 증대를 위한 기구 (Design of a Mechanism to Increase Lateral Stability of Mobile Robot)

  • 정상국;최용제
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2004년도 추계학술대회 논문집
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    • pp.1148-1153
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    • 2004
  • This paper presents the mechanism to increase lateral stability of a mobile robot using an energy stability margin theory. Previous measure of stability used in a wheeled mobile robot has been based on a static stability margin. However, the static stability margin is independent of the height of the robot and does not provide sufficient measure for the amount of stability when the terrain is not a horizontal plane. In this work, the energy stability margin theory, which is dependent on robot's height is used to develop a 2 dof mechanism to increase lateral stability. This proposed mechanism shifts the center of gravity of the robot to the point where the energy stability margin is maximized and overall stability of the robot equipped with this mechanism will be increased.

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