TY - GEN
T1 - Stability criteria in controlling mobile robotic systems
AU - Sugano, Shigeki
AU - Huang, Qiang
AU - Kato, Ichiro
PY - 1993/12/1
Y1 - 1993/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0027868576
SN - 0780308239
T3 - 1993 Int Conf Intell Rob Syst
SP - 832
EP - 838
BT - 1993 Int Conf Intell Rob Syst
A2 - Anon, null
PB - Publ by IEEE
T2 - 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
Y2 - 26 July 1993 through 30 July 1993
ER -