Real-Time ZMP Compensation Method using Null Motion for Mobile Manipulators
نویسندگان
چکیده
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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