抗力規範による移動マニピュレータの安定化制御 : 第1報, モデルの導出, ZMPの規範との比較および安定化運動の効果 Stability Control for Mobile Manipulators Using Criteria Based on Reaction : 1st Report, Modeling, Comparison with ZMP Criteria and Effects of Stability Compensation

この論文にアクセスする

この論文をさがす

著者

抄録

This research is concerned with a stability control method with a criterion based on reaction for motion control of a mobile manipulator. Mobile manipulators can propel themselves around a work area and can operate over a wide area. Then, a stability evaluation and a stability control method must be required for mobile manipulators that are not fixed on a floor. The evaluation method based on ZMP (Zero Moment Point) criterion, in which the model is regarded as a particle system, is not satisfactory for evaluating stability of a mobile manipulator that consists of solid links. In addition, transient state during tipping over has not been discussed. In this paper, we propose a stability evaluation criterion based on reaction for the solid model of a dynamic mobile manipulator. First, equations of motion of the mobile manipulator for stable and unstable states of motion are formulated based on constraint conditions. Second, a stability criterion based on reaction is proposed by referring the formulated model. Third, the relationships between changes in reaction and changes in ZMP during tipping over are discussed through simulations. Finally, it is shown that a mobile manipulator can return from unstable transient state to stable state by performing stability compensation motion.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 21(1), 63-71, 2003-01-15

    The Robotics Society of Japan

参考文献:  15件中 1-15件 を表示

被引用文献:  4件中 1-4件 を表示

各種コード

  • NII論文ID(NAID)
    10010179999
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6436929
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
ページトップへ