---
publication_id: "OT-2026-000001641"
title: "Dynamic stability of a robot manipulator"
published_at: "2026-09-15T19:07:15.097639Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001641"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/162"
  - "b25j9/1633"
  - "g05d1/6895"
  - "g05d1/6895"
  - "a47l11/40"
  - "a47l11/4011"
---

# Dynamic stability of a robot manipulator

## Abstract

A robot manipulator has a base with a connected arm by a shoulder joint, and a control system and force selector. Based on a target trajectory for a distal end of the arm instructions, a target motion and an effective force applied to the base that causes the base to execute the target motion is determined. An applied force on the robot manipulator results in a determination of a virtual ZMP force applied to the base that would either counteract an observed motion of a ZMP of the robot manipulator or act to move the ZMP back to within a predetermined support region, and/or an external force applied. Data defining the effective force and the virtual ZMP force and/or the external force applied to the base and determines a target force based on the data is received. The base executed a motion in response to the target force.