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 | Unknown Journal |
| Volume | 2 |
| Publication status | Published - 2001 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
Cite this
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 journal › Article
}
TY - JOUR
T1 - Sub-optimal trajectory planning of mobile manipulator
AU - Mohri, A.
AU - Furuno, S.
AU - Iwamura, M.
AU - Yamamoto, Motoji
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=0034860533&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0034860533
VL - 2
SP - 1271
EP - 1276
JO - Quaternary International
JF - Quaternary International
SN - 1040-6182
ER -