A STABILITY ANALYSIS OF A MOBILE BASE ROBOT WITH AN ENERGY FUNCTION

Authors
SON CM
Citation
Cm. Son, A STABILITY ANALYSIS OF A MOBILE BASE ROBOT WITH AN ENERGY FUNCTION, International journal of machine tools & manufacture, 37(2), 1997, pp. 215-221
Citations number
8
Categorie Soggetti
Engineering, Manufacturing","Engineering, Mechanical
Journal title
International journal of machine tools & manufacture → ACNP
ISSN journal
08906955
Volume
37
Issue
2
Year of publication
1997
Pages
215 - 221
Database
ISI
SICI code
0890-6955(1997)37:2<215:ASAOAM>2.0.ZU;2-H
Abstract
In this paper, a stability analysis coordinating with a computed force /torque control for a mobile base robot (MBR) is introduced. A stabili ty envelope based on the relations between the system's mechanical ene rgy and the stability relation is derived. A computed force/torque con trol algorithm is applied to the MBR that accounts for the dynamics of the composite system. The above tool is necessary for a mobile robot to perform complex assembly or manufacturing tasks in an unstructured environment. Copyright (C) 1996 Elsevier Science Ltd