Motion planning for a mobile manipulator considering stability and task constraints

Qiang Huang, Shigeki Sugano, Kazuo Tanie

研究成果: Conference contribution

38 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2192-2198
ページ数7
ISBN(印刷版)078034300X
DOI
出版ステータスPublished - 1998 1 1
イベント15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
継続期間: 1998 5 161998 5 20

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
3
ISSN(印刷版)1050-4729

Conference

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

ASJC Scopus subject areas

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

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