Abstract
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.
| Original language | English |
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| Pages | 839-846 |
| Number of pages | 8 |
| Publication status | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger Duration: 12 Sept 1994 → 16 Sept 1994 |
Conference
| Conference | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
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| City | Munich, Ger |
| Period | 12/09/94 → 16/09/94 |