An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

• Published in: International journal of advanced robotic systems Vol. 12; no. 5
• Main Authors: Long, Shidong, Xin, Guiyang, Deng, Hua, Zhong, Guoliang
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 20.05.2015; Sage Publications Ltd; SAGE Publishing
• Subjects: Algorithms; Computer simulation; Contact; Contact angle; Dynamic stability; Dynamics; Legs; Loads (forces); Manipulators; Mathematical analysis; Methods; Robots; Stability; Stability analysis; Stability criteria; Walking; Tip-over Stability; Stability Monitoring; Improved Force-Angle Stability Margin; Radial Symmetrical Hexapod Robot
• ISSN: 1729-8806; 1729-8814
• DOI: 10.5772/60032

This paper presents a study on stability monitoring for a radial symmetrical hexapod robot under dynamic conditions. The force-angle stability margin (FASM) measure method has been chosen as the stability criterion. This is because it is suitable for the stability analysis, in terms of external forces or manipulator loads acting on the body. Considering that a radial symmetrical hexapod robot can tumble along the contact point besides tip-over axis, this paper proposes an improved FASM measure method. Furthermore, it provides the method for calculating the stability angle of contact point and simplifies the algorithm of FASM. To verify the improved FASM measure method, three potential dynamic situations have been simulated. The simulation results confirm that, under dynamic conditions, the improved FASM is efficient, simple in terms of calculation cost and sensitive to manipulator loads and external disturbances. This means it has practical value in on-line controllers.