OPENTECHNICAL PUBLICATION
OT-2026-000001641

Dynamic stability of a robot manipulator

Published: 2026-09-15T19:07:15.097639Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001641
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001641
Published 2026-09-15T19:07:15.097639Z
https://opentechnical.org/p/OT-2026-000001641