Improving the stability level for on-line planning of mobile manipulators

Robotica

Volumn 27, Issue 3, 2009, Pages 389-402

  Qiu, Changwu ^a   Cao, Qixin ^a   Yu, Leibin ^a   Miao, Shouhong ^a  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

Inverse redundant kinematics; Mobile manipulator; On line planning; Stability; Tip over avoiding

Indexed keywords

DYNAMIC STABILITY; INVERSE REDUNDANT KINEMATICS; LIE GROUP; MOBILE MANIPULATOR; MOBILE ROBOT DYNAMICS; NUMERICAL SIMULATION; OMNI-DIRECTIONAL; ON-LINE PLANNING; REDUNDANT KINEMATICS; SUPPORT CONDITIONS; SUPPORT POLYGON; TIP-OVER AVOIDING; TREE TOPOLOGY;

CONVERGENCE OF NUMERICAL METHODS; KINEMATICS; MOBILE ROBOTS; ROBOT PROGRAMMING; STABILITY;

MANIPULATORS;

EID: 67651177879     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574708004803     Document Type: Article

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