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

Qiang Huang, Shigeki Sugano

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

    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
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages568-575
    Number of pages8
    Volume2
    Publication statusPublished - 1996
    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

    Fingerprint

    Motion planning
    Manipulators
    Stabilization
    End effectors
    System stability
    Trajectories

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Huang, Q., & Sugano, S. (1996). Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 568-575). Piscataway, NJ, United States: IEEE.

    Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. / Huang, Qiang; Sugano, Shigeki.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 2 Piscataway, NJ, United States : IEEE, 1996. p. 568-575.

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

    Huang, Q & Sugano, S 1996, Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 2, IEEE, Piscataway, NJ, United States, pp. 568-575, Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn, 96/11/4.
    Huang Q, Sugano S. Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 2. Piscataway, NJ, United States: IEEE. 1996. p. 568-575
    Huang, Qiang ; Sugano, Shigeki. / Motion planning of stabilization and cooperation of a mobile manipulator - vehicle motion planning of a mobile manipulator. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 2 Piscataway, NJ, United States : IEEE, 1996. pp. 568-575
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