Title :
Coordinating locomotion and manipulation of a mobile manipulator
Author :
Yamamoto, Yoshio ; Yun, Xiaoping
Author_Institution :
General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
A planning and control algorithm for coordinating the motion of a mobile manipulator is presented. The design criterion is to control the mobile platform so that the manipulator is maintained in a configuration which maximizes the manipulability measure. The effectiveness of the method was verified by simulations on two representative trajectories. The algorithm was implemented with an actual mobile manipulator and tested on one of the trajectories for comparison purposes
Keywords :
mobile robots; path planning; locomotion/manipulation coordination; mobile manipulator; motion planning; Displacement control; Humans; Manipulator dynamics; Master-slave; Mobile robots; Motion control; Position measurement; Robot kinematics; Robot sensing systems; Testing; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371337
