Tip-Over Stability Estimation and Simulation of a Manipulator using the Mean Normal Ground Reaction criterion.

Abstract The possibility of a robot failing to perform its task can be influenced by factors related to its movement and the load it carries. This concern is particularly important in mobile robots where these factors are more noticeable. Many researchers have conducted studies to quantify the loss of stability in different types of robots. However, these studies often require expensive and complex equipment for replication. Therefore, this research proposes an alternative approach to estimate tip-over stability using MATLAB/Simulink. The methodology involves using a 3-degree-of-freedom serial manipulator placed on an Angular Positioning Table. The stability measure is determined by applying a criterion based on the average normal reactions at the base of the manipulator. Case studies are conducted to simulate operating conditions and assess the potential for tipping over based on the trajectory between two desired points. Finally, a case is presented where the obtained stability values are used to mitigate this effect by adjusting the manipulator’s trajectory.