Trajectory planning of mobile manipulator with end-effector's specified path

Akira Mohri, Seiji Furuno, Motoji Yamamoto

Research output: Contribution to conferencePaper

27 Citations (Scopus)

Abstract

In this paper, a trajectory planning method of a mobile manipulator with the end-effector's specified path 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
Pages2264-2269
Number of pages6
Publication statusPublished - Dec 1 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Mohri, A., Furuno, S., & Yamamoto, M. (2001). Trajectory planning of mobile manipulator with end-effector's specified path. 2264-2269. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.