Stability criteria in controlling mobile robotic systems

Shigeki Sugano; Qiang Huang; Ichiro Kato

Stability criteria in controlling mobile robotic systems

Shigeki Sugano^*, Qiang Huang, Ichiro Kato

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

115 Citations (Scopus)

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
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 Dec 1
Event	1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap Duration: 1993 Jul 26 → 1993 Jul 30

Publication series

Name	1993 Int Conf Intell Rob Syst

Other

Other	1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
City	Yokohama, Jap
Period	93/7/26 → 93/7/30

ASJC Scopus subject areas

Engineering(all)

Cite this

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title = "Stability criteria in controlling mobile robotic systems",

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.",

author = "Shigeki Sugano and Qiang Huang and Ichiro Kato",

year = "1993",

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language = "English",

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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 -

Stability criteria in controlling mobile robotic systems

Abstract

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ASJC Scopus subject areas

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