Stability control for a mobile manipulator using a potential method

Qiang Huang, Shigeki Sugano, Ichiro Kato

Research output: Contribution to conferencePaper

45 Citations (Scopus)

Abstract

The method of ZMP path planning by a stability potential field is used as a control scheme for maintaining or recovering stability for a mobile manipulator. In this method, the concepts of the goal state and prohibitive state of the stability are introduced. Basing from these, a motion planning algorithm is then formulated, that controls the manipulator in order to maintain the stability of the whole system while the vehicle is moving along a given trajectory. The efficiency of the proposed method is illustrated by computer simulation.

Original languageEnglish
Pages839-846
Number of pages8
Publication statusPublished - 1994 Dec 1
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: 1994 Sep 121994 Sep 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Huang, Q., Sugano, S., & Kato, I. (1994). Stability control for a mobile manipulator using a potential method. 839-846. Paper presented at Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, .