Trajectory Planning of Cooperative Multiple Mobile Manipulators

Seiji Furuno, Motoji Yamamoto, Akira Mohri

Research output: Contribution to conferencePaperpeer-review

6 Citations (Scopus)

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.

Original languageEnglish
Pages136-141
Number of pages6
Publication statusPublished - 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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