摘要
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.
| 源语言 | 英语 |
|---|---|
| 页 | 839-846 |
| 页数 | 8 |
| 出版状态 | 已出版 - 1994 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger 期限: 12 9月 1994 → 16 9月 1994 |
会议
| 会议 | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| 市 | Munich, Ger |
| 时期 | 12/09/94 → 16/09/94 |
指纹
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Huang, Q., Sugano, S., & Kato, I. (1994). Stability control for a mobile manipulator using a potential method. 839-846. 论文发表于 Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger.