Manipulator motion planning for stabilizing a mobile-manipulator

The stability of a vehicle-mounted mobile manipulator has a close relation with the vehicle´s motion, the manipulator´s posture and motion and the end-effector´s force. The purpose of this study is to derive the cooperative motions of the vehicle and the manipulator for a stabilization which is compatible with task operation so that the mobile manipulator can successfully accomplish tasks in environments with various disturbances. The authors have already proposed the stability concepts based on the ZMP criterion to discuss the stabilization and the task operation, and have presented the method of ZMP moved path by a stability potential field to maintain the stability for a mobile manipulator. In this paper, based on the above-mentioned considerations, the manipulator compensatory motion is discussed for stabilizing the mobile manipulator while the vehicle is moving along a given motion