Paper Info
Title
Motion planning of stabilization and cooperation of a mobile manipulator-vehicle motion planning of a mobile manipulator
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
Year
DOI
Venue
1996
10.1109/IROS.1996.570852
IROS
Keywords
Field
DocType
acceleration,disturbances,mobile manipulator cooperative motion planning algorithm,mobile robots,stabilization,passing time,path planning,rough motion planning,local motion modification,manipulators,gradient projection method,stability,vehicle-mounted mobile manipulator,manipulator workspace,cooperative systems,mobile manipulator,automotive engineering,optimization problem,mechanical engineering,motion planning,trajectory
Motion planning,Motion control,Control theory,Computer science,Workspace,Control engineering,Gradient projection,Acceleration,Trajectory,Mobile robot,Mobile manipulator
Conference
Volume
ISBN
Citations 
2
0-7803-3213-X
1
PageRank 
References 
Authors
0.37
9
2
Name
Order
Citations
PageRank
Qiang Huang110.71
Shigeki Sugano2689161.38