Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning

Qiang Huang, Shigeki Sugano, Kazuo Tanie

研究成果: Conference contribution

17 引用 (Scopus)

抄録

In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effector and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform tasks at an optimal manipulation configuration when the robot is stable, and recovering the system's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
編集者 Anon
出版場所Piscataway, NJ, United States
出版者IEEE
ページ1285-1292
ページ数8
3
出版物ステータスPublished - 1997
外部発表Yes
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
継続期間: 1998 9 71998 9 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
Grenoble, Fr
期間98/9/798/9/11

Fingerprint

Manipulators
Planning
Motion compensation
End effectors
System stability
Redundancy
Robots
Redundant manipulators
Compensation and Redress
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

これを引用

Huang, Q., Sugano, S., & Tanie, K. (1997). Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning. : Anon (版), IEEE International Conference on Intelligent Robots and Systems (巻 3, pp. 1285-1292). Piscataway, NJ, United States: IEEE.

Stability compensation of a mobile manipulator by manipulator motion : Feasibility and planning. / Huang, Qiang; Sugano, Shigeki; Tanie, Kazuo.

IEEE International Conference on Intelligent Robots and Systems. 版 / Anon. 巻 3 Piscataway, NJ, United States : IEEE, 1997. p. 1285-1292.

研究成果: Conference contribution

Huang, Q, Sugano, S & Tanie, K 1997, Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning. : Anon (版), IEEE International Conference on Intelligent Robots and Systems. 巻. 3, IEEE, Piscataway, NJ, United States, pp. 1285-1292, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, 98/9/7.
Huang Q, Sugano S, Tanie K. Stability compensation of a mobile manipulator by manipulator motion: Feasibility and planning. : Anon, 編集者, IEEE International Conference on Intelligent Robots and Systems. 巻 3. Piscataway, NJ, United States: IEEE. 1997. p. 1285-1292
Huang, Qiang ; Sugano, Shigeki ; Tanie, Kazuo. / Stability compensation of a mobile manipulator by manipulator motion : Feasibility and planning. IEEE International Conference on Intelligent Robots and Systems. 編集者 / Anon. 巻 3 Piscataway, NJ, United States : IEEE, 1997. pp. 1285-1292
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