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

38 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 - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2192-2198
Number of pages7
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

Keywords

  • Laboratories
  • Manipulator dynamics
  • Mechanical engineering
  • Mobile robots
  • Motion planning
  • Orbital robotics
  • Production facilities
  • Robot kinematics
  • Stability
  • Vehicle dynamics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Motion planning for a mobile manipulator considering stability and task constraints'. Together they form a unique fingerprint.

  • Cite this

    Huang, Q., Sugano, S., & Tanie, K. (1998). Motion planning for a mobile manipulator considering stability and task constraints. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 2192-2198). [680649] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680649