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Due to strong dynamics coupling between the dual arm and mobile platform, online evaluation of dynamic stability of the mobile dual-arm robot still remains challenging. This paper presents an improved tip-over moment stability criterion dealing with the dual arm and mobile platform interaction and proposes an algorithm for calculating the tip-over stability margin of the arm end in the workspace to analyze the dynamic stability of the wheeled mobile dual-arm robot. The simulations on a four-wheeled mobile dual-arm robot validate the correctness and feasibility of the proposed method.<\/jats:p>","DOI":"10.1155\/2021\/9913335","type":"journal-article","created":{"date-parts":[[2021,7,12]],"date-time":"2021-07-12T21:50:08Z","timestamp":1626126608000},"page":"1-11","source":"Crossref","is-referenced-by-count":1,"title":["Online Dynamic Tip-Over Analysis for a Wheeled Mobile Dual-Arm Robot with an Improved Tip-Over Moment Stability Criterion"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0524-2469","authenticated-orcid":true,"given":"Xianhua","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0185-7415","authenticated-orcid":true,"given":"Liang","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9428-4352","authenticated-orcid":true,"given":"Qing","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China"}]},{"given":"Tao","family":"Song","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200444, China"},{"name":"Shanghai Robot Industry Technology Research Institute Co., Ltd., Shanghai 200063, China"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCCS49078.2020.9118454"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/iros45743.2020.9341638"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/iemtronics51293.2020.9216410"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/access.2017.2669209"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.2796"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2016.2623338"},{"first-page":"832","article-title":"Stability criteria in controlling mobile robotic systems","author":"S. 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