@inproceedings{d6c3a5af4bf34560bc4c1503f66fde65,
title = "On dynamic stability of manipulators on moveable platforms",
abstract = "This paper presents the development of a model that can adequately simulate the dynamic stability of manipulators mounted on moveable platforms. The model takes into account the dynamics of the base that can potentially rock back-and-forth. Particularly, the model predicts the changes in the velocities of the manipulator links and the base due to impact with the ground. The application of the study is directed at industrial machines that carry human-operated hydraulic manipulators. The model is therefore used to simulate, for the first time, planar movements of a Caterpillar 215B excavator-based log-loader. The results clearly show the effect of the manipulator movement on turning the base over. The results also show that by proper manipulation of the arms, one can achieve a stable condition and even reverse the 'tipover' situation in such machines.",
author = "Abo-Shanab, \{R. F.\} and N. Sepehri",
note = "Publisher Copyright: {\textcopyright} 2001 IEEE.; IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 ; Conference date: 29-07-2001 Through 01-08-2001",
year = "2001",
doi = "10.1109/CIRA.2001.1013248",
language = "English",
series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "479--485",
editor = "Hong Zhang and Liu, \{Peter Xiaoping\}",
booktitle = "Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation",
address = "United States",
}