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Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?

Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
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What is the best software/package to draw the robot manipulator and indicate DH parameters and different axes?

I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes? Any suggestions!