Stability compensation of a mobile manipulator by manipulator motion: feasibility and planning

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.656417

Qiang Huang, S. Sugano, K. Tanie

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引用次数: 58

Abstract

In order for a mobile manipulator to move stably (not overturn) and execute the given motions of the end-effect and the vehicle simultaneously, a manipulator must have redundancy. By using this redundancy, it is possible to perform task 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.

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基于机械手运动的移动机械手稳定性补偿:可行性与规划

为了使移动机械手稳定运动(不倾覆)并同时执行给定的末端效应运动和车辆运动，机械手必须具有冗余性。利用这种冗余，可以在机器人稳定状态下以最优操作配置执行任务，在机器人不稳定状态下恢复系统的稳定性。这种机械手补偿运动恢复稳定性的能力是有限的。因此，为了保证稳定性补偿的可行性，任务计划或车辆运动必须在此能力范围内。本文首先提出了静态姿态变化的稳定性补偿范围的概念。然后，在给定末端执行器和整车运动的情况下，导出了考虑操作构型和系统稳定性的冗余度机械手在稳定性补偿范围内的补偿运动。最后，通过仿真实验验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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