Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation

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 mode...

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Bibliographic Details
Published in2020 IEEE International Conference on Robotics and Automation (ICRA) pp. 4934 - 4940
Main Authors Song, Jiazhi, Sharf, Inna
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2020
Subjects
Acceleration
Computational modeling
Kinematics
Manipulator dynamics
Planning
Stability analysis
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Summary: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.
ISSN:2577-087X
DOI:10.1109/ICRA40945.2020.9196836