Process of robotic asbestos removal from rehabilitation sites involves dynamic interactions between the abrasive grinding tool and the surface to be cleaned. Moreover, necessity of compact manipulator design yields a mobile base with smaller support polygon. In such case, stability becomes a critical issue. This paper presents an approach for stability estimation by analytically simulating grinding operation. Based on results of stability analysis, a grinding trajectory while ensuring manipulator stability is proposed. Analytical results are then validated through co-simulation.
CITATION STYLE
Maraje, S., Fauroux, J. C., Bouzgarrou, C. B., & Adouane, L. (2019). Stability analysis of an asbestos removal mobile manipulator for safe grinding trajectories. In Mechanisms and Machine Science (Vol. 73, pp. 2349–2358). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-20131-9_232
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