Coordinated motion planning for a mobile manipulator considering stability and manipulation

Q. Huang, K. Tanie, Shigeki Sugano

    Research output: Contribution to journalArticle

    82 Citations (Scopus)

    Abstract

    For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized. In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing tasks in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehicle motion and manipulator motion. In this paper, we first present the concept of the valid stable region to evaluate stability in the presence of disturbances. Next, we propose a method for coordinating vehicle motion planning including manipulator configuration, and manipulator motion planning including platform stability. Then, the optimal problem of vehicle motion is formulated, taking into account vehicle dynamics, manipulator workspace, and system stability. Also, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of the proposed method is demonstrated by simulation examples.

    Original languageEnglish
    Pages (from-to)732-742
    Number of pages11
    JournalInternational Journal of Robotics Research
    Volume19
    Issue number8
    DOIs
    Publication statusPublished - 2001 Aug

    Fingerprint

    Mobile Manipulator
    Motion Planning
    Manipulator
    Motion planning
    Manipulators
    Manipulation
    Motion
    Disturbance
    Configuration
    Vehicle Dynamics
    Workspace
    Stabilization
    High Speed
    System stability
    Valid
    Necessary
    Evaluate

    Keywords

    • Coordinated motion
    • Manipulation
    • Mobile manipulator
    • Motion planning
    • Stability

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Coordinated motion planning for a mobile manipulator considering stability and manipulation. / Huang, Q.; Tanie, K.; Sugano, Shigeki.

    In: International Journal of Robotics Research, Vol. 19, No. 8, 08.2001, p. 732-742.

    Research output: Contribution to journalArticle

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