Abstract
In this paper, a trajectory planning method of a mobile manipulator 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.
| Original language | English |
|---|---|
| Pages (from-to) | 1271-1276 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - 2001 |
| Event | 2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: May 21 2001 → May 26 2001 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering