Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Study of Stability for Field Robot using Energy Stability Level Method

에너지안정성 레벨을 이용한 필드로봇의 안정성에 관한 연구

  • Nguyen, C.T. (School of Mechanical and Automobile Engineering, University of Ulsan) ;
  • Le, Q.H. (School of Mechanical and Automobile Engineering, University of Ulsan) ;
  • Jeong, Y.M. (School of Mechanical and Automobile Engineering, University of Ulsan) ;
  • Yang, S.Y. (School of Mechanical and Automobile Engineering, University of Ulsan)
  • Received : 2014.05.15
  • Accepted : 2014.08.25
  • Published : 2014.09.01
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Abstract

In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.

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References

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