Abstract
Process of robotic asbestos removal from rehabilitation sites involves dynamic interactions between the abrasive grinding tool and the surface to be cleaned. Moreover, necessity of compact manipulator design yields a mobile base with smaller support polygon. In such case, stability becomes a critical issue. This paper presents an approach for stability estimation by analytically simulating grinding operation. Based on results of stability analysis, a grinding trajectory while ensuring manipulator stability is proposed. Analytical results are then validated through co-simulation.
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Acknowledgment
Bots2ReC project is funded by the EU H2020 research and innovation program (Grant agreement No: 687593).
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Maraje, S., Fauroux, JC., Bouzgarrou, CB., Adouane, L. (2019). Stability analysis of an asbestos removal mobile manipulator for safe grinding trajectories. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_232
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DOI: https://doi.org/10.1007/978-3-030-20131-9_232
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-030-20131-9
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