抄録
In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effector and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform tasks at an optimal manipulation configuration when the robot is stable, and recovering the system's stability when the robot is unstable. The ability to recover stability by this manipulator compensation motion is limited. Thus in order to ensure the feasibility of stability compensation, the task plan or vehicle motion must be within this ability. In this paper, first the concept of stability compensation range by static posture change is proposed. Then, within the stability compensation range, the compensation motion of a redundant manipulator considering the manipulation configuration and the system stability is derived, given the motions of the end-effector and the vehicle. Finally, the effectiveness of this method is illustrated by simulation experiments.
| 本文言語 | English |
|---|---|
| ページ | 1285-1292 |
| ページ数 | 8 |
| 出版ステータス | Published - 1997 12月 1 |
| 外部発表 | はい |
| イベント | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr 継続期間: 1998 9月 7 → 1998 9月 11 |
Other
| Other | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) |
|---|---|
| City | Grenoble, Fr |
| Period | 98/9/7 → 98/9/11 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用