Dynamic modeling of tip-over stability of mobile manipulators considering the friction effects
Bibliographic record
Abstract
This paper extends the models developed previously by the authors for simulating tip-over stability of mobile manipulators, to include the friction of the contact between the base and the ground. Thus, the present model takes into account the detailed dynamics of the base that can rock back and forth during the movement of the manipulator, the combined vehicle suspension and ground-tire compliance and, the friction between the wheels and the ground. ‘LuGre’ tire friction model is employed, which along with the novel method of virtual links transforms the system into a fixed base manipulator with single degree of freedom at each joint. The model is then used to simulate planar movements of a 215B Caterpillar excavator-based log-loader machine. The results are also compared to those obtained by the simplified model, which was developed previously based on the assumption that the friction between the base and the ground is high enough to prevent the base from skidding forward or backward. The results clearly show that the friction properties between the wheels and the ground affect machine stability. Thus, one has to include the frictional effect in order to accurately predict the tip-over behavior of 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) | 0.000 | 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".