Coordinated motion planning for a mobile manipulator considering stability and manipulation

Qiang Huang, Kazuo Tanie, Shigeki Sugano

研究成果: Article査読

91 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)732-742
ページ数11
ジャーナルInternational Journal of Robotics Research
19
8
DOI
出版ステータスPublished - 2000 8

ASJC Scopus subject areas

  • ソフトウェア
  • モデリングとシミュレーション
  • 機械工学
  • 人工知能
  • 電子工学および電気工学
  • 応用数学

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