Design and implementation of an intelligent monitoring system for real-time tip-over assessment of mobile manipulator

Date of Publication

3-2023

Document Type

Master's Thesis

Degree Name

Master of Science in Electronics and Communications Engineering

Subject Categories

Electrical and Computer Engineering

College

Gokongwei College of Engineering

Department/Unit

Electronics And Communications Engg

Thesis Advisor

Jose Martin Z. Maningo

Defense Panel Chair

Argel Bandala

Defense Panel Member

Ryan Vicerra
Edwin Sybingco

Abstract (English)

Mobile manipulators are commonly used for explosive ordnance disposal (EOD) missions. The typical operation of an EOD robot includes traversing inclines as well as a variety of rough terrains while carrying heavy payloads which may cause postural instabilities or tip-over. Mobile manipulator tip-over, especially while carrying payload, creates a dangerous situation for the surrounding environment resulting in an aborted mission. This study aims to create a real-time tip-over monitoring system that can be applied to avoid a mobile manipulator tip-over. Using a Computer Aided Design (CAD) model of the robot and parameters such as center of gravity and orientation, a measure for robot instability and a tip-over algorithm can be derived and evaluated to perform the necessary actions such as adjusting robot arm positions or changing velocity of the robot to prevent tip-over.

Abstract Format

html

Language

English

Keywords

Mobile robots—Dynamics; Robotics—Military applications

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Embargo Period

4-21-2023

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