Stability control for a mobile manipulator using a potential method

Qiang Huang*, Shigeki Sugano, Ichiro Kato

*この研究の対応する著者

研究成果: Paper査読

52 被引用数 (Scopus)

抄録

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.

本文言語English
ページ839-846
ページ数8
出版ステータスPublished - 1994 12月 1
イベントProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
継続期間: 1994 9月 121994 9月 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Stability control for a mobile manipulator using a potential method」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル