Stability criteria in controlling mobile robotic systems

Shigeki Sugano, Qiang Huang, Ichiro Kato

研究成果: Conference contribution

89 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル1993 Int Conf Intell Rob Syst
編集者 Anon
出版者Publ by IEEE
ページ832-838
ページ数7
ISBN(印刷物)0780308239
出版物ステータスPublished - 1993 12 1
イベント1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
継続期間: 1993 7 261993 7 30

出版物シリーズ

名前1993 Int Conf Intell Rob Syst

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Yokohama, Jap
期間93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

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