Real-time ZMP compensation method using null motion for mobile manipulators

Jinhyun Kim; Wan Kyun Chung; Youngil Youm; Beom H. Lee

doi:10.1109/ROBOT.2002.1014829

Real-time ZMP compensation method using null motion for mobile manipulators

Jinhyun Kim
, Wan Kyun Chung
, Youngil Youm
, Beom H. Lee

Dept. of Mechanical & Automotive Engineering

Pohang University of Science and Technology
Seoul National University

Research output: Contribution to journal › Article › peer-review

88 Scopus citations

Abstract

In this article, the dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystem is formulated using redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using ZMP(Zero Moment Point). This performance index represents the stability of the whole mobile manipulator system. And then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

Original language	English
Pages (from-to)	1967-1972
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
DOIs	https://doi.org/10.1109/ROBOT.2002.1014829
State	Published - 2002

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10.1109/ROBOT.2002.1014829

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abstract = "In this article, the dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystem is formulated using redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using ZMP(Zero Moment Point). This performance index represents the stability of the whole mobile manipulator system. And then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.",

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AB - In this article, the dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystem is formulated using redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using ZMP(Zero Moment Point). This performance index represents the stability of the whole mobile manipulator system. And then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

Real-time ZMP compensation method using null motion for mobile manipulators

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