Stability criteria in controlling mobile robotic systems

Shigeki Sugano*, Qiang Huang, Ichiro Kato

*この研究の対応する著者

研究成果: Conference contribution

104 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル1993 Int Conf Intell Rob Syst
編集者 Anon
出版社Publ by IEEE
ページ832-838
ページ数7
ISBN(印刷版)0780308239
出版ステータスPublished - 1993 12月 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月 261993 7月 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)
CityYokohama, Jap
Period93/7/2693/7/30

ASJC Scopus subject areas

  • 工学(全般)

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