Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation

被引：0
|
作者：
Song, Jiazhi [1 ]
Sharf, Inna [1 ]
机构：
[1] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 0C3, Canada
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年
基金：
加拿大自然科学与工程研究理事会;
关键词：
ROBOTIC MANIPULATORS; MOBILE; MARGIN;
D O I：
10.1109/icra40945.2020.9196836
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a dynamic stability-constrained optimal motion planning algorithm developed for a timber harvesting machine working on rough terrain. First, the kinematics model of the machine, and the Zero Moment Point (ZMP) stability measure is presented. Then, an approach to simplify the model to gain insight and achieve a fast solution of the optimization problem is introduced. The performance and computation time of the motion plan obtained with the simplified model is compared against that obtained with the full kinematics model of the machine with the help of MATLAB simulations. The results demonstrate feasibility of fast motion planning while satisfying the dynamic stability constraint.
引用
收藏
页码：4934 / 4940
页数：7
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