Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator

Qiang Huang, Shigeki Sugano

Research output: Contribution to conferencePaper

12 Citations (Scopus)

Abstract

It is desired that a vehicle-mounted mobile manipulator can move with stability and can operate tasks in various environments in the presence of disturbances. In this paper, a mobile manipulator cooperative motion planning algorithm is proposed, consisting of a rough motion planning and a local motion modification. As a step to realize the cooperative motion, the vehicle motion planning is discussed, given the end-effector trajectory. First, the vehicle path is planned. Then the optimal problem of determining the passing time of the vehicle along the planned path is formulated, considering the vehicle acceleration, the manipulator workspace and the system stability. Using a gradient projection method, the vehicle motion is derived. Finally, the effectiveness of this method is illustrated by simulation.

Original languageEnglish
Pages568-575
Number of pages8
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: 1996 Nov 41996 Nov 8

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period96/11/496/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Huang, Q., & Sugano, S. (1996). Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. 568-575. Paper presented at Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn, .