{'fraction_non_alphanumeric': 0.01272984441301273, 'fraction_numerical': 0.0, 'mean_word_length': 5.378378378378378, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Kinematics and tip-over stability analysis for the mobile modular manipulator

Abstract This paper presents a practical method to establish the kinematics model for the mobile modular manipulator. A tough issue is resolved by decomposing a given task into motions performed by both the manipulator and the mobile platform. A direct differentiation method is used to analyse the differential kinematics. Stability analysis of the mobile manipulator is performed to evaluate the possibility of tip-over; some stability criteria are established. Computer simulations are carried on a real mobile modular manipulator, and ideal results are received to show that the theoretical analysis is feasible and correct.