Manipulator motion planning for stabilizing a mobile-manipulator

Qiang Huang*, Shigeki Sugano

*この研究の対応する著者

研究成果: Paper査読

27 被引用数 (Scopus)

抄録

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.

本文言語English
ページ467-472
ページ数6
出版ステータスPublished - 1995 1月 1
イベントProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
継続期間: 1995 8月 51995 8月 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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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