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 |
| 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 12 → 1994 9月 16 |
Other
| Other | Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) |
|---|---|
| City | Munich, Ger |
| Period | 94/9/12 → 94/9/16 |
ASJC Scopus subject areas
- 工学一般