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

Qiang Huang, Shigeki Sugano

研究成果: Paper査読

12 被引用数 (Scopus)

抄録

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.

本文言語English
ページ568-575
ページ数8
出版ステータスPublished - 1996 12 1
イベントProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
継続期間: 1996 11 41996 11 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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