Stability analysis of an asbestos removal mobile manipulator for safe grinding trajectories
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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.
Keywordsmobile manipulator stability analysis trajectory planning
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Bots2ReC project is funded by the EU H2020 research and innovation program (Grant agreement No: 687593).
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