Manipulator motion planning for stabilizing a mobile-manipulator

Qiang Huang, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    25 Citations (Scopus)

    Abstract

    The stability of a vehicle-mounted mobile manipulator has a close relation with the vehicle's motion, the manipulator's posture and motion, and the end-effector's force. The purpose of this study is to derive the cooperative motions of the vehicle and the manipulator for a stabilization which is compatible with task operation, so that the mobile manipulator can successfully accomplish tasks in environments with various disturbances. The authors have already proposed the stability concepts based on the ZMP criterion to discuss the stabilization and the task operation, and have presented the method of ZMP moved path by a stability potential field to maintain the stability for a mobile manipulator. In this paper, based on the above-mentioned considerations, the manipulator compensatory motion is discussed for stabilizing the mobile manipulator while the vehicle is moving along a given motion.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages467-472
    Number of pages6
    Volume3
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
    Duration: 1995 Aug 51995 Aug 9

    Other

    OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    CityPittsburgh, PA, USA
    Period95/8/595/8/9

    Fingerprint

    Motion planning
    Manipulators
    Stabilization
    End effectors

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Huang, Q., & Sugano, S. (1995). Manipulator motion planning for stabilizing a mobile-manipulator. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 467-472). Piscataway, NJ, United States: IEEE.

    Manipulator motion planning for stabilizing a mobile-manipulator. / Huang, Qiang; Sugano, Shigeki.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1995. p. 467-472.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Huang, Q & Sugano, S 1995, Manipulator motion planning for stabilizing a mobile-manipulator. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 3, IEEE, Piscataway, NJ, United States, pp. 467-472, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
    Huang Q, Sugano S. Manipulator motion planning for stabilizing a mobile-manipulator. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 3. Piscataway, NJ, United States: IEEE. 1995. p. 467-472
    Huang, Qiang ; Sugano, Shigeki. / Manipulator motion planning for stabilizing a mobile-manipulator. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1995. pp. 467-472
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