Trajectory planning of mobile manipulator with stability considerations

Seiji Furuno, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

In this paper, a problem of trajectory planning for a mobile manipulator with stability considerations is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. As a measure for the system stability, a ZMP criterion is used. The planning problem is formulated as an optimal control problem with some constraints. To solve the problem, we use a hierarchical gradient method which synthesizes the gradient function in a hierarchical manner based on the order of priority. 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)1330-1335
Number of pages6
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number5
DOIs
Publication statusPublished - May 2003

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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