Stability control for a mobile manipulator using a potential method

Qiang Huang, Shigeki Sugano, Ichiro Kato

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

    44 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
    Title of host publicationIEEE/RSJ/GI International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages839-846
    Number of pages8
    Volume2
    Publication statusPublished - 1994
    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

    Fingerprint

    Manipulators
    Motion planning
    Trajectories
    Computer simulation

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Huang, Q., Sugano, S., & Kato, I. (1994). Stability control for a mobile manipulator using a potential method. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (Vol. 2, pp. 839-846). Piscataway, NJ, United States: IEEE.

    Stability control for a mobile manipulator using a potential method. / Huang, Qiang; Sugano, Shigeki; Kato, Ichiro.

    IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1994. p. 839-846.

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

    Huang, Q, Sugano, S & Kato, I 1994, Stability control for a mobile manipulator using a potential method. in IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. vol. 2, IEEE, Piscataway, NJ, United States, pp. 839-846, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, 94/9/12.
    Huang Q, Sugano S, Kato I. Stability control for a mobile manipulator using a potential method. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2. Piscataway, NJ, United States: IEEE. 1994. p. 839-846
    Huang, Qiang ; Sugano, Shigeki ; Kato, Ichiro. / Stability control for a mobile manipulator using a potential method. IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2 Piscataway, NJ, United States : IEEE, 1994. pp. 839-846
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