Abstract:
Many future applications of robotic systems will require manipulators to operate from moving vehicles. However, vehicle-mounted mobile manipulators might be unstable and ...Show MoreMetadata
Abstract:
Many future applications of robotic systems will require manipulators to operate from moving vehicles. However, vehicle-mounted mobile manipulators might be unstable and even tip over. The authors assume that the stability of such a mobile manipulator has a close relationship with the vehicle's motion, the manipulator's posture and motion, and the endpoint's force. They present 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.
Published in: Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)
Date of Conference: 26-30 July 1993
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-0823-9
