Title :
Trajectory planning of cooperative multiple mobile manipulators
Author :
Furuno, Seiji ; Yamamoto, Motoji ; Mohri, Akira
Author_Institution :
Dept. of Intelligent Machinery & Syst., Kyushu Univ., Fukuoka, Japan
Abstract :
In this paper, we propose the trajectory planning method of multiple mobile manipulators which carry a common object in cooperation. We derive a dynamic equation considering dynamic characteristics of mobile manipulators and the object. The dynamic equation consists of equations of motion of mobile manipulators and the object, nonholonomic constraints of mobile platforms, and geometrical constraints between end-effectors and the object. The trajectory planning problem is formulated as an optimal control problem. A simulation result is given to show the effectiveness of the proposed method.
Keywords :
end effectors; mobile robots; multi-robot systems; optimal control; path planning; cooperative multiple mobile manipulators; dynamic equation; end-effectors; geometrical constraints; optimal control problem; trajectory planning problem; Equations; Intelligent systems; Lagrangian functions; Machine intelligence; Machinery; Manipulator dynamics; Robots; Torque; Trajectory; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250618
