DocumentCode
2245299
Title
Motion planning for Mobile Manipulator to Pick up an Object while Base Robot´s Moving
Author
Shan, Wanli ; Nagatani, Keiji ; Tanaka, Yutaka
Author_Institution
Graduate Sch. of Natural Sci. & Technol., Okayama Univ.
fYear
2004
fDate
22-26 Aug. 2004
Firstpage
350
Lastpage
355
Abstract
Our research goal is to realize a motion planning for an intelligent mobile manipulator to pick up an object while the mobile base is moving. This motion is very easy for human. However, it includes many technical challenges for robotic research. In this research, we propose a motion planning method for a mobile manipulator with considering the manipulator´s manipulability. In this paper, we describe our motion planning algorithm and introduce a performance of planned motion using three dimensional motion simulator and our actual mobile manipulator
Keywords
intelligent robots; manipulators; mobile robots; path planning; intelligent mobile manipulator; motion planning; motion simulator; Humans; Intelligent robots; Manipulator dynamics; Mobile robots; Motion planning; Path planning; Production facilities; Robot sensing systems; Robotics and automation; Technology planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location
Shenyang
Print_ISBN
0-7803-8614-8
Type
conf
DOI
10.1109/ROBIO.2004.1521803
Filename
1521803
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