影响因子：2.8
发表刊物：ASME Journal of Computing and Information Science in Engineering
关键字：Mobile Manipulator, Extended ZMP, Tip-Over Avoidance, Null-Space Projection, Velocity Controlled
摘要：A novel dynamic tip-over avoidance method is proposed for mobile manipulators based on the extended zero moment point (ZMP) algorithm. This method extends the traditional ZMP stability criterion into three dimensions, deriving a system-wide three-dimensional (3D) zero moment point. The integration of the extended ZMP with redundant features facilitates adaptive weight matrix adjustments, enabling the robot to adapt its motion based on environmental constraints, thus preventing instability such as tip-over. Simulation verification is carried out with CoppeliaSim. Experimental verification is performed using the MR2000+FR3 mobile manipulator. The results confirm that the extended ZMP algorithm effectively prevents tipping in complex environments.
论文类型：期刊论文
一级学科：机械工程
文献类型：期刊
是否译文：否
发表时间：2024-12-31
收录刊物：SCI