Dynamic Model and Instability Evaluation of an Articulated Mobile Agri-Robot

  • G. Carabin
  • R. VidoniEmail author
  • F. Mazzetto
  • A. Gasparetto
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 47)


Stability, in particular in outdoor sloped conditions, is one of the most important requirements for design safe and effective future mobile robotic platforms. In this work, the authors’ recent results on the study and development of an articulated mobile robot for agricultural and forestry activities in hilly/mountain environments are presented. First of all, a dynamic model for the stability analysis of a generic articulated platform has been designed and implemented. Then, different practical working conditions have been simulated to assess the stability of the system; possible stabilizing actions when travelling on a sloped surface on the steering angle, velocity and central joint have been finally evaluated and discussed.


Articulated joint Mobile robot Stability Agricultural robotics 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • G. Carabin
    • 1
  • R. Vidoni
    • 1
    Email author
  • F. Mazzetto
    • 1
  • A. Gasparetto
    • 2
  1. 1.FaST (Faculty of Science and Technology)Free University of BolzanoBolzanoItaly
  2. 2.DPIA (Dipartimento Politecnico di Ingegneria e Architettura)University of UdineUdineItaly

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