Trajectory planning of mobile manipulator with stability considerations

Author

Furuno, Seiji ; Yamamoto, Motoji ; Mohri, Akira

Author_Institution

Dept. of Intelligent Machinery & Syst., Kyushu Univ., Fukuoka, Japan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3403

Abstract

This paper presents methods of trajectory planning for a mobile manipulator with stability considerations. The proposed trajectory planning method is to generate a trajectory for the mobile manipulator from a given path of the end-effector considering stability. Then, we derive a dynamics model of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. ZMP criterion is used as an index for the system stability. The trajectory planning problem is formulated as an optimal control problem with some constraints. To solve the problem, we use a hierarchical gradient method which synthesizes the gradient function in a hierarchical manner based on the order of priority. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm.

Keywords

end effectors; gradient methods; manipulator dynamics; motion control; optimal control; path planning; stability; end effector; gradient function; hierarchical gradient method; mobile manipulator; mobile platform; nonholonomic mobile manipulator; optimal control problem; planar mobile manipulator; system stability; trajectory planning; Equations; Intelligent systems; Machine intelligence; Machinery; Manipulator dynamics; Optimal control; Stability criteria; Trajectory; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242116

Filename

1242116