The method of ZMP path planning by a stability potential field is used as a control scheme for maintaining or recovering stability for a mobile manipulator. In this method, the concepts of the goal state and prohibitive state of the stability are introduced. Basing from these, a motion planning algorithm is then formulated, that controls the manipulator in order to maintain the stability of the whole system while the vehicle is moving along a given trajectory. The efficiency of the proposed method is illustrated by computer simulation.
|出版ステータス||Published - 1994 12 1|
|イベント||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger|
継続期間: 1994 9 12 → 1994 9 16
|Other||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|Period||94/9/12 → 94/9/16|
ASJC Scopus subject areas