Stability criteria in controlling mobile robotic systems

Shigeki Sugano, Qiang Huang, Ichiro Kato

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

    88 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
    Place of PublicationPiscataway, NJ, United States
    PublisherPubl by IEEE
    Pages832-838
    Number of pages7
    ISBN (Print)0780308239
    Publication statusPublished - 1993
    Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
    Duration: 1993 Jul 261993 Jul 30

    Other

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

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    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Sugano, S., Huang, Q., & Kato, I. (1993). Stability criteria in controlling mobile robotic systems. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 832-838). Publ by IEEE.