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

Huang Qiang*, Kazuo Tanie, Shigeki Sugano

*この研究の対応する著者

研究成果: Article査読

50 被引用数 (Scopus)

抄録

In order for a mobile manipulator to move stably (without overturning) and execute end-effector tasks simultaneously, a manipulator with redundancy is effective. Using this redundancy, it is possible to perform tasks at an expected manipulator configuration when the robot is stableand compensate system stability when the robot is unstable. However, the ability to compensate stability by this manipulator 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, firstthe concept of the stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering an expected manipulator configuration and the system stability is derived, given the end-effectortrajectory and the vehicle motion. Finally, the effectiveness of this method is illustrated by simulation examples.

本文言語English
ページ(範囲)25-40
ページ数16
ジャーナルAdvanced Robotics
13
1
DOI
出版ステータスPublished - 1998 1 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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