Motion planning for a mobile manipulator considering stability and task constraints

Qiang Huang, Shigeki Sugano, Kazuo Tanie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    37 Citations (Scopus)

    Abstract

    In order for a mobile manipulator to be used in areas such as offices and houses, the mobile platform must be small-sized. In the case of a small-sized platform, the mobile manipulator may fall down when moving at high speed, or executing tasks in the presence of disturbances. Therefore, it is necessary to consider both stabilization and manipulation simultaneously while coordinating vehicle motion and manipulator motion. In this paper, we propose a method for coordinating vehicle motion planning considering manipulator task constraints, and manipulator motion planning considering platform stability. Specifically, first, the optimal problem of vehicle motion is formulated, considering vehicle dynamics, manipulator workspace and system stability. Next, the manipulator motion is derived, considering stability compensation and manipulator configuration. Finally, the effectiveness of this method is demonstrated by simulation.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Editors Anon
    PublisherIEEE
    Pages2192-2198
    Number of pages7
    Volume3
    Publication statusPublished - 1998
    EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Other

    OtherProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
    CityLeuven, Belgium
    Period98/5/1698/5/20

      Fingerprint

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Huang, Q., Sugano, S., & Tanie, K. (1998). Motion planning for a mobile manipulator considering stability and task constraints. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2192-2198). IEEE.