Tip-over prevention control for teleoperated excavator based on CoG and ZMP prediction
This paper describes tip-over prevention control of a teleoperated excavator based on center of gravity (CoG) and zero moment point (ZMP) prediction. This method predicts a future CoG and ZMP when an operation input is given. This allows the determination of the risk of tip-over by the operation inp...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-05-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/850/83_17-00040/_pdf/-char/en |