Working space planning for wheeled robot overturning stability

Abstract Mobile manipulators have been widely used in the field of building construction. Typical features of construction robots include crossing various rugged terrains in construction sites, carrying heavy payloads, and performing tasks in a large workspace, which may lead to unstable posture or overturning. The tipping of the mobile manipulator, especially when carrying a payload, will cause danger to the surrounding environment and staff, leading to the termination of the task. The purpose of this study is to establish a real-time tipping prediction system, which can be used to avoid tipping of mobile manipulators. By employing the CAD model of the robot and parameters such as the center of gravity and direction, we can ascertain and assess the instability of the robot and the overturning algorithm, thus providing early warning and averting any potential danger.