Stability analysis of an asbestos removal mobile manipulator for safe grinding trajectories

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


mobile 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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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Institut Pascal, SIGMA ClermontUniversité Clermont Auvergne, CNRSClermontFerrandFrance
  2. 2.Institut PascalUniversité Clermont Auvergne, CNRSClermontFerrandFrance

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