Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation
Jiazhi Song,Inna Sharf,Jiazhi Song,Inna Sharf
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 perform...
