Sub-optimal trajectory planning of mobile manipulator

A. Mohri, S. Furuno, M. Iwamura, Motoji Yamamoto

Research output: Contribution to journalArticle

36 Citations (Scopus)

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 languageEnglish
Pages (from-to)1271-1276
Number of pages6
JournalUnknown Journal
Volume2
Publication statusPublished - 2001

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Manipulators
trajectory
Trajectories
planning method
Planning
simulation
planning

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

Cite this

Mohri, A., Furuno, S., Iwamura, M., & Yamamoto, M. (2001). Sub-optimal trajectory planning of mobile manipulator. Unknown Journal, 2, 1271-1276.

Sub-optimal trajectory planning of mobile manipulator. / Mohri, A.; Furuno, S.; Iwamura, M.; Yamamoto, Motoji.

In: Unknown Journal, Vol. 2, 2001, p. 1271-1276.

Research output: Contribution to journalArticle

Mohri, A, Furuno, S, Iwamura, M & Yamamoto, M 2001, 'Sub-optimal trajectory planning of mobile manipulator', Unknown Journal, vol. 2, pp. 1271-1276.
Mohri, A. ; Furuno, S. ; Iwamura, M. ; Yamamoto, Motoji. / Sub-optimal trajectory planning of mobile manipulator. In: Unknown Journal. 2001 ; Vol. 2. pp. 1271-1276.
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