Proceedings of the 1993 IEEElRSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 26-30.

1993

Stability Criteria in Controlling Mobile Robotic Systems

Shigeki SUGANO, Qiang HUANG, and Ichiro KATO

Department of Mechanical Engineering

Waseda University

3-4-1 Okubo, Shinjuku-ku

Tokyo, 1 69 , Japan

Abstract: Many future applications of robotic systems will even turn over. S.Dubowsky [5] presented a motion plan­
require manipulators to operate from moving vehicles. ning algorithm which permits a mobile manipulator to
However, diffet6Rt !rem the mrmipzrmtm IJ ji,lisd "'I tb.e.. perform its task quickly, but only considering the stability
fI881!3:;_mehile rebotit 3j�ehicle-mounted m�il
\l..u. 0 'l.· n .j,
..
in the case of a stationary vehicle. T.Fukuda [6] presented
!. ht be unstable and even tip over. � " :- a "center of gravity control" method for a mobile ma­
manipulatorstl!!!g
�Yirat the stability of such a mobile manipulator nipulator to avoid tumbling, by which both the end-effec­
has a close rela t1'6��'@ith the vehicle's motion, the man�
. , .i tor position, and the center of gravity of the manipulator
lator's posture and motion, and the endpoint's force. �� and the payload are controlled. But the method does not
� presentt.!!:.e. concepts of the � bility degree and the
valid stable region based on the ZMP eroil ¥ment l)6lnt)
consider the influence of the vehicle, and the part of ac­
celeration of the mobile manipulator. Actually, the sta­
criterion, which can be used as effective stability criteria in
bility of a mobile manipulator has a close relation with the
controlling mobile manipulators. Finally, the concepts are
illustrated by computer simulation.
vehicle's motion, the manipulator'S posture and motion,
and the endpoint's force.

Introduction In this paper, in order for future mobile manipulators to

Vehicle-mounted mobile manipulators are being con­
sidered for a wide variety of applications outside their tra­
ditional factory uses, in such diverse tasks as remote main­
tenance, toxic waste cleanup, fire-fighting, and even work
in completely unknown environments.
However, different from the manipulators securely
fastened to factory floors, there are dynamic interactions
between.the manipulators and the vehicles. M.Minami
[1] used a non-linear control to compensate for the influ­
ence of disturbances from manipulators to vehicles.
S.Dubowsky, H.West and H.A.M.Hootmans [2]-[4]
explored the character of the base motion disturbances and
presented a dynamic feed forward compensation method,
a compensation control based on modeling of base com­
pliance, and an extended Jacobian transpose control algo­
rithm to improve the performance of the end-effectors
of manipulators.
Moreover, different from the manipulators fixed tightly
to the floors, mobile manipulators might be unstable and
0-7803-0823-91931$3.00 (C) 1993 IEEE
832
successfully accomplish tasks while their vehicles are in
motion, on the base of ZMP(Zero Moment Point) criterion,
the concepts of the stability degree and the valid stable
region are proposed, which can be used as effective sta­
bility criteria in controlling mobile manipulators.
In the sequence, first the ZMP criterion [7] is applied
to distinguishing the stability considering the dynamics of
all parts of a mobile manipulator. Then, based on the ZMP
criterion, the concepts of the stability degree and the valid
stable region are proposed, in which the stable extent and
stable limit are given by the stability degree, and the sta­
bility considering the influence of disturbances in a task
environment is discussed by using the valid stable region.
Lastly, some simulation examples are presented.
Criteria of Stability Evaluation
\
Model of a Mobile Manipulator and the ZMP Criterion
First, let a mobile manipulator be defined as follows:
1. A mobile manipulator, including the vehicle, the ma­ motion equation at an arbitrary point P can be given by
nipulator and the payload, can be considered to be a applying D'Alambert's Principle [8].
system of particles as shown in Fig. 1.
2. The floor is a rigid horizontal plane that will not Lffi,(r,-p) x
{( d'r
-' +G
d'P }
)-- +T-LMj--�=(s.-P) XF,=o (1)
, dt:l dt2 j II
be moved by any forces and moments (torques).
3. Two Cartesian coordinate systems are accepted. One is
the absolute Cartesian coordinate system O-XYZ, in m. : mass of particle i
I

which the Z axis is the vertical direction, and the XOY : possition vector of particle i
plane is the floor. The other is the vehicle Cartesian co­ P=[xp' Yp' OJ : position vectorofP

ordinate system O'-X'Y'Z' that is fixed to the center of G-[g

- x'
g
y'
g J
z
: gravitational acceleration

the vehicle, in which the Z' axis is the vertical direction, T=[T , T , T J : resultant torque acted on point P
x y z

and the X' axis is the front direction of the vehicle. M.=[M ., M . ,MZJ.J: external moment j
J XJ YJ

Fk=[Fxk , F yk , Fzk]: external force k

Sk=[xsk, y sk,zsk] : position vector where external force k is put
o : zero vector

By modifing (1), the components of ZMP can be de­

rived as follows:

L m, (z,+g,)x,- Lffi, (;(,+g,)z,+ LMyj+ L(S"F" -S,,F,,)

Xzmp=
! I J k (2)
X ,
Lm, (Z,+g,) -LF"
,

Lffi, (z,+g,)y,- Lffi, (Y,+g,.)z,- LM,j- L<Sy,F"-S,,Fyk)

Fig. 1 Model of Mobile Manipulator Yzmp-
_ j i J k
(3)
and Cartesian Coordinate Systems ,
Lm, (ii,+g,) -LF"
,

ZMP(Zero Moment Point) is a point on the floor where In the case of no external force and moment, the ZMP
the resultant moment of the gravity, the inertial force of equations are:
the mobile manipulator and the external force is zero. If
ZMP is within the support polygon (in the following the
(4)
support polygon is named the stable region), the mobile L:m; (z;+g)
,
manipulator is stable.

z L:m, G ,+g )y,- L:m,y,z,

Yzmp=
i j
(5)
L:m, (z,+g)
;

For convenience in computation, ZMP will be ex­

pressed in the vehicle Cartesian coordinate system. The
relationship between ZMP in the O-XYZ and the one in
the O'-X'Y'Z' is as follows:

y
(6)

Fig. 2 Definition of Vectors for Mobile Manipulator where R is a 3 X 3 homogeneous transformation matrix
about O-XYZ and O'-X'Y'Z', and the superscript T de-
As shown in Fig. 2, each vector is defined. Then a

833
notes transpose operation.
The stable limit is
Stability Degree
0< a;;1 ( 1 1)
According to the ZMP criterion, if ZMP is within the
stable region, the mobile manipulator is stable. But the
ZMP criterion has not given a quantitative measure to
express the stable extent.
Actually, it is important to know how much the stable
extent is when a mobile manipulator is being used for a
task. That is, if there are obstacles and disturbances in
d(zmp)
the task environment, or the task environment is com­
pletely unknown, it is necessary for the mobile manipu­
Fig. 3 Stable Region and Stability Degree
lator to have a high stable extent. On the other hand, if
there are no obstacles or disturbances in the task environ­ In a word, if the stability degree is negative, the mobile
ment,or the task environment is precisely known, it is not manipulator is unstable. If the stability degree is positive,
necessary to have a high stable extent. Therefore, the the mobile manipulator is stable. Moreover, the larger the
concept of the stability degree is proposed. stability degree is, the stabler the mobile manipulator is.
Define 1: The stability degree is the quantitative meas­ Define 2: The stability degree curve denotes the set of
ure of a stable extent for a mobile manipulator according ZMP under some stability degree.
to the relationship between the ZMP position and the
stable region (shown in Fig. 3). The stability degree can be C: Fc( a) (12)
written as follows:
where, C is the stability degree curve. a is the stability
a = d/r o (7) degree. And Fc( a) is a lead function (shown in Fig. 4).

d = mill (d(zmp)} (8)

r 0 = max (d: dEA(d)} (9)

where, a is the stability degree. d(zmp) is a set of the

distance from ZMP to the boundary of the stable region. d
is the minimal distance from ZMP to the boundary of the
stable region, and it is assumed that: if ZMP is within the Fig. 4 Stability degree Curve
stable region, then d is positive (in the following the
Let Co' Cm be the curve of the boundary of the stable
positive d is named the stable room); if ZMP is outside the
region and the stablest place respectively. Then the fol­
stable region, then d is negative.A(d) is a set of the stable
lowing relationships are obvious:
room d. And ro is the maximum of the stable room d
(shown in Fig. 3).
Co: Fc(O) (13)
From equations (4), (5) and (6), the stable limit can
also be given as follows: Cm: Fc(1) (14)
The unstable limit is
Here, for a convex stable region, the stablest place de­
noted by the curve Cm is one straight line or one point (the
a <0 (10)
834
proof is omitted). with the stable safety room.

Valid Stable Region (16)

In the case of no disturbances or without considering where, Q is the valid stable region,F Q (c) is a lead
the influence of disturbances in a task environment, if . function,and C is the limit curve of ZMP with the stable
ZMP is within the stable region, that is the stability de­ safety room (shown in Fig. 5).
gree is positive, it is known that a mobile manipulator is
stable. Then,if there are disturbances in the task environ­
ment, what will happen to the stability of a mobile ma­
nipulator?
It is true that a mobile manipulator can be stable in one
task environment, but may turn over in another task envi­
ronment because of the influence of different distur­
bances. Then, in order for a mobile manipulator to be used
for a task, how much the stability degree or the stable
Fig. 5 Safety Room and Valid Stabl<e Region
room is needed before the mobile manipulator is influ­
That is to say, in the case of ZMP being within the valid
enced by disturbances? That is to say, how can the vary­
stable region, the mobile manipulator is still stable even if
ing stability degree owing to disturbances be always posi­
it is influenced by the toleration disturbance. Then it is
tive under the disturbances of an assumed condition (in the
possible that the mobile manipulator can be used only for
following, the maximum of disturbances of an assumed
a task with no need of considering its stability. On the other
condition is named the toleration disturbance).
hand, in the case of ZMP being outside the valid stable
If the stability degree is large, the minimal distance
region, the mobile manipulator will become unstable if it is
from ZMP to the boundary of the stable region is long.
influenced by the toleration disturbance. Then it is neces­
That is to say, the stable room which prevents the mobile
sary for the mobile manipulator to be controlled for its sta­
manipulator from turning over is large. For the varying
bility and for its task at the same time.
stability degree owing to disturbances to be always posi­
tive, it is necessary that the stable room must be bigger
Simulation
than the changed amount of ZMP owing to the toleration
disturbance.
In this section, some of the concepts developed in the
Define 3: The safety room is the stable room in which preceding section are illustrated through examples.
the stability degree will not become negative under the
toleration disturbance. Parameters of the Mobile Manipulator and Motion
Paterns of the Vehicle
(15)
Consider a vehicle-mounted mobile manipulator with a
where,d is the safety room, and d (lMP) is the changed three-link manipulator and a four-wheel vehicle as
s r
amount of ZMP owing to the toleration disturbance. shown in Fig. 6. The parameters of the mobile manipulaor
Notice that the changed amount of ZMP owing to a are shown in table 1 and table 2.
disturbance has a relation with the motion state of the According to the vehicle specification, the sphere of
mobile manipulator. So, the changed amount of ZMP df X of the stable region (the support polygon) is ± 0.4
ZMP
(lMP) will not be the same in the case of different motion [m], and the one of Y ZMP is ± 0.2 [m] in the vehicle Car-
states of the mobile manipulator. tesian coordinate system (shown in Fig. 7).
Define 4: The valid stable region is the district of ZMP
835
 ronment may be precisely known or completely un­
known. But the toleration disturbance in a task environ­
ment can be assumed. Under the toleration disturbance, the
mobile manipulator must be stable and can be used for its
task. For convenience of simulation, the toleration distur­
bance is assumed to be some external force which can
make the mobile manipulator move at an acceleration of
about below 2 [m/s2]. In the case of the task environment
with this toleration disturbance, the sphere of X ZMl' of the
valid stable region is ± 0.3 [m], and the one of Y ZMP is ±
0.1 [m] in the vehicle Cartesian coordinate system (shown
Fig. 6 Outline of Mobile Manipulator
in Fig. 7).
Table1: length, weight and angle sphere of the manipulator

link No. length L (m) weight m (kg) angle sphere B (deg

1 0.3 30 ±90

2 0.5 40 ±135

O. 3 20 ±135
3

-0.2
Table 2: length, width, height and weight of the vehicle

Stablest Place
Stable Region
lenhth width height weight
Valid Stable Region
L (m) W em) HI (m) H2 (m) m /kg) Fig. 7 Sphere of Stable Region and Valid Stable Region

O. 8 O. 4 0.2 0.3 80
Stability Evaluation

It is assumed that the mobile manipulator moves at the

initial speed of 0, the maximal speed of2 [m/s], and at the
initial acceleration of 0, the maximal acceleration of 2 [m/
S2]. The motion patterns are given as follows while the
manipulator stops in the case of () 1=0 [deg], () 2=145
[deg], () 3=45 [deg]:
On the absolute Cartesian coordinate system,
1. The vehicle moves in a straight line from start point (0,
0) to end point (5, 5) with no payload.
2. The vehicle moves in a half a circle from start point (0,
0) to end point (2, 0) with a 60 kg payload.
Assumption of the Toleration Disturbance and the Valid
Stable Region
When a mobile manipulator does a task, the task envi-
Fig. 9 shows the curves of X ZMP, Y ZMP, and the stability
degree in the case of a vehicle moving in a straight line.
Because of a straight line motion, only XZMP changes and
Y ZMP does not change. From point A to point B, although
X changes, the stability degree is always 1 with no
ZMP
change. This is because that the stablest place associated
with this rectangle stable region is one straight line from
the point (-0.2, 0) to the point (0.2, 0).
In the case of this straight line motion, the stability de­
gree is large. Especially, because ZMP is always within
the valid stable region, the mobile manipulator can still be
stable even if it is influenced by the toleration disturbance..
Then, the mobile manipulator can be used only for its task
with no need to consider its stability.
Fig. 11 shows the curves of XZMP , Y ZMP , and the stabil­
ity degree in the case of a vehicle moving in one circle with

836
a 60 kg payload. Because of the circular motion,both X ZMP
and YZMP change. There are some hills in the curve of the "
N
'"

stability degree. The peaks of hills are the switch points of 01

'-

§
the stability degree between the directions of the X axis .
;: 0 t"---�--�-----""'- �--�-"""7 v
r: 4 5
and the Y axis. For example on point F,the stability degree .'=! .j
B
before the peak is decided by Y , that is, the mobile <:
·2
ZMP
manipulator is easier to turn over in the direction of the Y ·3

axis than the one of the X axis. And the stability degree Time (sec)
(a)
after the peak is decided by XZMP,that is, the mobile ma-
nipulator is easier to turn over in the direction of the X axis
22
than the one of the Y axis. �

�
-g
In the case of this circular motion,the stability degree is '01

small. During point A to point C, ZMP is within the valid

>- 0 �"'--�---�--�--
stable region, and the mobile manipulator can still be o
Time (sec)
stable even if it is influnced by the toleration disturbance. (b)
Then, the mobile manipulator can be used only for its task Fig. 8 (a) Acceleration Curve (b) Vellocity Curve
with no need to conside its stability. During point C to In the case of vehicle moving in a straight line
point D,ZMP is within the stable region but outside the A B
0.4
valid stable region, and the mobile manipulator will be­ 0.3
0.2 I - I -
come unstable if it is influnced by the toleration distur­ '--. - I
� O. j
bance. So, the mobile manipulator must be controlled for
� '0. j
><

its task and for its stability at the same time. And during -0.2
point D to point E, ZMP is outside the stable region,that -0.3
-0.4
is the stability degree becomes negative, and the mobile j 2 3 5
I TIme (sec)
manipulator is unstable. So,the mobile manipulator must I (a)
I
be controlled for its stability. 0.3 r---,----,---,---- t----,--
0.2�---+_--�----r----+_-
0.1 �--+-�-
--�--�---- -+--
Conclusions
""
N
� -0.1 �--+_-r-
-�---�---- --+--
In the future,robotic systems will be increasingly used
-0. 2 �----+_--�----t---+_-
in applications in which they are not fixed to factory -0. 3 '--__-'--__..l..-__-'-___�----'--
floors,but are mobile or mounted on vehicles. However, � 5
I Time (sec)
different from the manipulators fixed on the floors, one I (b)
problem is that vehicle-mounted mobile manipulators
might be unstable and even tip over. In this paper,the ZMP
(Zero Moment Point) criterion was applied to distinguish­ EO.5�----+_--�--_+---ir_--+_--
ing stability,considering a close relation with the vehicle's
motion, the manipulator's posture and motion, and the
o L-___�___-L__�_____,L____�__

endpoint's force. Based on the ZMP criterion, the concepts o 3

Time (sec)
of the stability degree and the valid stable region are pro­ (c)
Fig. 9 (a) Trajectory of XZMP (b) Trajectory of Y ZMP
posed,in which the stability degree can give a mathemati­
(c) Variation of the Stability Degree
cal expression of the stable extent according to the rela­
in the case of vehicle moving in a straight line
tionship between ZMP position and the stable region,and
with no payload
the valid stable region can be acted as a stability dis-

837
tinguishing for mobile manipulators operating in a task en­
vironment with disturbances.
In the future, research on control methods for stability
and for operating a task will be studied.

References
Time (sec)
(a)
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o
Research, Santa Cruz, CA, 1987, pp. 111-117.
Time (sec)
[3] H.West, N.Hootsmans, S.Dubowsky and N. Stolman, (b)
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0.5
I I I I I I
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0.3
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I I I I I
� O. I
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N
X 0 1I 1
I
1
I
1
I I
1
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I I I I I
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I I I I I
-0.3
[5] S.Dobowsky and E.E.Vance, "Planning Mobile Manipu­
i Ii i 2
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lator Motions Considering Vehicle Dynamic Stability I I (a)

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0.2
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0
1:/1
0..

Conf. on Robotics and Automation, Nice, France, �

>- -0. I J' J :
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I i�1 lK"
I I I I I
[7] M.Vukobratovic, A Frank and D.Juricic, "On the Stabil­ -0.3

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TIme (sec)
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[8] A.Takanishi, M.Tachizawa, T.Takeya, H.Haraki,and

...
"

LKato, "Realization of Dynamic Biped Walking Stabi­ "

1:1 0.5 F----t----II--*---t--+t-t--+-...."

lized with Motion under Known External Force," in Q

?:l
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�

.':l
Advanced Robotics (Columbus, Ohio, June 13-15) pp. cr.

299-310.
2
Time (sec)
(c)

Fig. 11 (a) Trajectory of X ZMP (b) Trajectory of Y ZMP

in the case of the vehicle moving in a circle
with a 60 kg payload

838