Abstract
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.
| Original language | English |
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| Title of host publication | 1993 Int Conf Intell Rob Syst |
| Editors | Anon |
| Publisher | Publ by IEEE |
| Pages | 832-838 |
| Number of pages | 7 |
| ISBN (Print) | 0780308239 |
| Publication status | Published - 1993 |
| Externally published | Yes |
| Event | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap Duration: 26 Jul 1993 → 30 Jul 1993 |
Publication series
| Name | 1993 Int Conf Intell Rob Syst |
|---|
Conference
| Conference | 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) |
|---|---|
| City | Yokohama, Jap |
| Period | 26/07/93 → 30/07/93 |
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Sugano, S., Huang, Q., & Kato, I. (1993). Stability criteria in controlling mobile robotic systems. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 832-838). (1993 Int Conf Intell Rob Syst). Publ by IEEE.