Trajectory planning of mobile manipulator with end-effector´s specified path

Author

Mohri, Akira ; Furuno, Seiji ; Yamamoto, Motoji

Author_Institution

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

Volume

4

fYear

2001

fDate

2001

Firstpage

2264

Abstract

In this paper, a trajectory planning method of a mobile manipulator with the end-effector´s specified path is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesize the gradient function in a hierarchical manner based on the order of priority is used. The simulation results of the 2-link planar nonholonomic mobile manipulator are given to show the effectiveness of the proposed algorithm

Keywords

gradient methods; manipulators; mobile robots; optimal control; path planning; robot dynamics; 2-link planar nonholonomic mobile manipulator; end-effector specified path; gradient function hierarchical synthesis; gradient-based iterative algorithm; optimal control; trajectory planning; Control system synthesis; Equations; Intelligent systems; Iterative algorithms; Machine intelligence; Manipulator dynamics; Optimal control; Path planning; Trajectory; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976407

Filename

976407