Stable operation of arm type robots on mobile platforms

摘要

Due to the increasing individualization of products, modern production facilities ask for highly flexible logistic systems like arm-type-robots on mobile platforms. To ensure good dynamics, minimal use of space and good reachability of connected machines, an ideal geometry of those systems would tend to be unstable due to the high center of mass, little weight and small ground base. The current paper describes briefly the development, modelling, simulation and validation of different types of stabilization strategies of robots on mobile platforms. It assesses the developed active stabilization devices and integrated control algorithms concerning their effectiveness and applicability within a production environment.