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/Summary

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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