Controlling stability of mobile manipulators by selecting of one or more stabilization adjustment methods

A mobile manipulator, comprising:

• a manipulator base and at least one manipulator arm;
• and
• a control means adapted to control the mobile manipulator according to a method method for controlling a mobile manipulator comprising a manipulator base and at least one manipulator arm, the method comprising:
• determining a current configuration of the mobile manipulator including a manipulator arm configuration and a manipulator base configuration;
• determining a desired movement trajectory of the mobile manipulator;
• determining a current zero-movement points (ZMP) trajectory, comprising the location of one or more current ZMP of the mobile manipulator, based on the current configuration of the mobile manipulator and the desired movement trajectory;
• determining a desired ZMP trajectory of the mobile manipulator, wherein each ZMP is located within a support polygon of the manipulator base;
• adjusting the mobile manipulator such that the current ZMP trajectory corresponds to the desired ZMP trajectory;
• wherein the step of adjusting the mobile manipulator comprises the following steps:
• selecting a stabilization method out of a group of stabilization methods and adjust the mobile manipulator based on the selected stabilization method;
• determining if the real ZMP trajectory of the mobile manipulator corresponds to the desired ZMP trajectory;
• and
• when the real ZMP trajectory of the mobile manipulator corresponds to the desired ZMP trajectory, executing a movement trajectory of the mobile manipulator.

A computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out a method for controlling a mobile manipulator comprising a manipulator base and at least one manipulator arm, the instructions comprising:

• instructions for determining a current configuration of the mobile manipulator including a manipulator arm configuration and a manipulator base configuration;
• instructions for determining a desired movement trajectory of the mobile manipulator;
• instructions for determining a current zero-movement points (ZMP) trajectory, comprising the location of one or more current ZMP of the mobile manipulator, based on the current configuration of the mobile manipulator and the desired movement trajectory;
• instructions for determining a desired ZMP trajectory of the mobile manipulator, wherein each ZMP is located within a support polygon of the manipulator base;
• instructions for adjusting the mobile manipulator such that the current ZMP trajectory corresponds to the desired ZMP trajectory;
• wherein the step of adjusting the mobile manipulator comprises:
• instructions for selecting a stabilization method out of a group of stabilization methods and instructions for adjusting the mobile manipulator based on the selected stabilization method;
• instructions for determining if the real ZMP trajectory of the mobile manipulator corresponds to the desired ZMP trajectory;
• and
• when the real ZMP trajectory of the mobile manipulator corresponds to the desired ZMP trajectory, instructions for executing a movement trajectory of the mobile manipulator.