Stability criteria in controlling mobile robotic systems

Shigeki Sugano, Qiang Huang, Ichiro Kato

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

90 Citations (Scopus)

Abstract

Many future applications of robotic systems will require manipulators to operate from moving vehicles. However, different from the manipulators fixed on the floors, mobile robotic systems (vehicle-mounted mobile manipulators) might be unstable and even tip over. This work considers that the stability of such a mobile manipulator has a close relation with the vehicle's motion, the manipulator's posture and motion, and the endpoint's force. This paper presents the concepts of the stability degree and the valid stable region based on the ZMP(Zero Moment Point) criterion, which can be used as effective stability criteria in controlling mobile manipulators. Finally, the concepts are illustrated by computer simulation.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
PublisherPubl by IEEE
Pages832-838
Number of pages7
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
CityYokohama, Jap
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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