Title :
A study of stability for field robot using energy stability method
Author :
Chi-Thanh Nguyen ; Kyoung-Taik Park ; Soon-Yong Yang
Author_Institution :
Sch. of Mech. & Automobile Eng., Univ. of Ulsan, Ulsan, South Korea
Abstract :
In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. The energy stability level is calculated by using the dynamic models of field robot, subject to the concept of equilibrium plane and support boundary. The results are simulated by using Matlab/Simulink for estimating the stability of field robot to supply useful predictions of stability analysis to designers and operators..
Keywords :
manipulator dynamics; mathematics computing; stability; Matlab; Simulink; energy stability level concept; energy stability method; field robot dynamic models; field robot stability analysis; manipulator postures; swing motion; terrain conditions; Agriculture; Equations; Manipulators; Software packages; Vehicle dynamics; Energy Stability Level; Field Robot; Matlab/Simulink; Stability Margin;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-8-9932-1506-9
DOI :
10.1109/ICCAS.2014.6988016
