Dynamic Stability of Mobile Manipulators Considering Suspension Characteristics
Bibliographic record
Abstract
In this paper, the previously developed model for dynamic stability of mobile manipulators, by the authors [1], is extended. The extended model not only takes into account the dynamics of the base that can potentially rock back-and-forth but also, includes the flexibility of the contact between the base and the ground. The novel method of virtual links is used to facilitate the dynamic modelling of the mobile manipulator. The application of the study is directed at industrial machines that carry human-operated hydraulic manipulators. The model is therefore used to simulate planar movements of a Caterpillar 215B excavator-based log-loader. It is shown that the flexibility of the contact between the base and the ground reduces the manipulator’s stability. Assuming rigid contact between the base and the ground overestimates the stability of mobile manipulators. Therefore, the flexibility between the base and the ground should be considered in the dynamic model to accurately investigate the stability of the mobile manipulators.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.003 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".