DocumentCode
2421469
Title
ZMP stabilization of rapid mobile manipulator
Author
Choi, Dongil ; Oh, Jun-Ho
Author_Institution
Humanoid Robot Res. Center, KAIST, Daejeon, South Korea
fYear
2012
fDate
14-18 May 2012
Firstpage
883
Lastpage
888
Abstract
This paper introduces a motion planning method for a rapid mobile manipulator using an inverted pendulum model. We design a linear quadratic optimal controller to stabilize ZMP. The two kinds of ZMP stabilization strategies (Fixed ZMP and Relaxed ZMP) are proposed. The highly geared manipulator is controlled by a Cartesian computed torque (CCT) control for compliant motion. A rapid mobile manipulator called KDMR-1 has been developed for its application. The high acceleration and speed performances of the proposed methods are shown by a rapid maneuvering experiment.
Keywords
control system synthesis; linear quadratic control; manipulators; mobile robots; motion control; nonlinear control systems; stability; torque control; CCT control; Cartesian computed torque control; ZMP stabilization; compliant motion; inverted pendulum model; linear quadratic optimal controller; motion planning method; rapid mobile manipulator; Acceleration; Joints; Manipulators; Mathematical model; Mobile communication; Torque; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6225369
Filename
6225369
Link To Document