TY - JOUR
T1 - Real-time ZMP compensation method using null motion for mobile manipulators
AU - Kim, Jinhyun
AU - Chung, Wan Kyun
AU - Youm, Youngil
AU - Lee, Beom H.
PY - 2002
Y1 - 2002
N2 - 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.
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.
UR - https://www.scopus.com/pages/publications/0036061277
U2 - 10.1109/ROBOT.2002.1014829
DO - 10.1109/ROBOT.2002.1014829
M3 - Article
AN - SCOPUS:0036061277
SN - 1050-4729
VL - 2
SP - 1967
EP - 1972
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
ER -